Resin solidification substrate and assembly

ABSTRACT

A solidification substrate assembly for making a three-dimensional object from a solidifiable material includes a solidification substrate assembly. In certain examples, the solidifiable material solidifies in contact with the solidification substrate, and the tilting of the substrate and/or or the use of a peeling member facilitates separation of the substrate from the solidified material. In other examples, the solidification substrate assembly includes a film that is adjacent to a rigid or semi-rigid layer. The solidifiable material solidifies in contact with the film, and a peeling member peels the film away from the solidified material. Intelligent solidification substrate assemblies are also described in which a force sensor determines when to expose the solidifiable material to solidification energy and/or whether to use a peeling member to separate the solidification substrate from a solidified objection section.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.12/907,853, filed on Oct. 19, 2010, which claims the benefit of U.S.Provisional Patent Application No. 61/300,417, filed on Feb. 1, 2010 andU.S. Provisional Patent Application No. 61/252,901, filed on Oct. 19,2009. The entirety of each of the foregoing applications is herebyincorporated by reference.

FIELD

The disclosure relates to a system and method for manufacturingthree-dimensional objects, and more specifically, to a solidificationsubstrate and assembly used in such methods.

DESCRIPTION OF THE RELATED ART

Three-dimensional rapid prototyping and manufacturing allows for quickand accurate production of components at high accuracy. Machining stepsmay be reduced or eliminated using such techniques and certaincomponents may be functionally equivalent to their regular productioncounterparts depending on the materials used for production.

The components produced may range in size from small to large parts. Themanufacture of parts may be based on various technologies includingphoto-polymer hardening using light or laser curing methods. Secondarycuring may take place with exposure to, for example, ultraviolet (UV)light. A process to convert a computer aided design (CAD) data to a datamodel suitable for rapid manufacturing may be used to produce datasuitable for constructing the component. Then, a pattern generator maybe used to construct the part. An example of a pattern generator mayinclude the use of DLP (Digital Light Processing technology) from TexasInstruments®, SXRD™ (Silicon X-tal Reflective Display), LCD (LiquidCrystal Display), LCOS (Liquid Crystal on Silicon), DMD (digital mirrordevice), J-ILA from JVC, SLM (Spatial light modulator) or any type ofselective light modulation system.

In certain three-dimensional object manufacturing processes, it isimportant to ensure that the solidifiable material (e.g., polymericresin) used to make the object forms a smooth and substantially planarsurface to which solidification energy from a pattern generator will beapplied. One technique requires the use of a “smoothing blade” or“doctor blade” to remove irregularities in the surface profile of asolidifiable polymeric resin. However, this technique requiresadditional moving parts and introduces undesirable complexity into thesystem. Another technique provides a transparent or translucent rigidlayer of material which sits on top of the exposed surface of thesolidification material. However, this technique can cause thesolidifiable material to solidify in contact with the reference plane,in which case the solidified material must be removed from the referenceplane. In certain cases, the separation force required to separate thesolidified material from the reference plane is so great that it causesthe object to deform or break. Thus, a need has arisen for a system andmethod of making three-dimensional objects which addresses the foregoingissues.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure will now be described, by way of example, with referenceto the accompanying drawings, in which:

FIG. 1A is a cross-sectional view of system for making athree-dimensional object from a solidifiable material depicting anobject build platform in a first position relative to a solidificationsubstrate;

FIG. 1B is a detailed view of the system of FIG. 1A depicting the objectbuild platform in a second position relative to solidificationsubstrate;

FIG. 2A is a cross-sectional view of an alternative embodiment of asystem for making a three-dimensional object from a solidifiablematerial depicting an object build platform in a first position relativeto a solidification substrate;

FIG. 2B is a cross-sectional view of the system of FIG. 2A depicting theobject build platform in a second position relative to a solidificationsubstrate;

FIG. 3 is a detailed perspective view of an embodiment of asolidification substrate;

FIG. 4 is a detailed perspective view of an alternative embodiment of asolidification substrate;

FIG. 5 is a detailed perspective view of another alternative embodimentof a solidification substrate;

FIG. 6 is a flow chart depicting a method of making a three-dimensionalobject by bi-directionally peeling a solidification substrate;

FIG. 7 is a perspective view of a system for making a three-dimensionalobject from a solidifiable material which includes a bi-directionallytiltable solidification substrate with portions of a load frame depictedin phantom;

FIG. 8 is a perspective view of the system of FIG. 7 with the build areadoor and resin container shown in an open position;

FIG. 9 is a perspective view of the system of FIG. 7 with the housingremoved;

FIG. 10 is a perspective view of the system of FIG. 7 with the housingremoved and a solidification substrate assembly shown in an openposition;

FIG. 11 is a perspective view of a work table assembly of the system ofFIG. 7 with a solidification substrate assembly in a closed position;

FIG. 12 is a perspective view of the work table assembly of the systemof FIG. 7 with a solidification substrate assembly in an open position;

FIG. 13 is a perspective view of a solidification substrate assembly;

FIG. 14 is a partial side elevational view of a three-dimensional objectmanufacturing system including a solidification substrate assembly and abi-directional peeling mechanism.

FIG. 15 is a perspective view of a three-dimensional objectmanufacturing system having a solidification substrate assembly and abi-directional peeling mechanism.

FIG. 16 is a perspective view of the bottom of a three-dimensionalobject manufacturing system including a solidification substrateassembly and a bi-directional peeling mechanism;

FIG. 17 is a detailed rear elevational view of a portion of athree-dimensional object manufacturing system device including asolidification substrate assembly and a bi-directional tiltingmechanism;

FIG. 18 is an alternate embodiment of a cam for bi-directionally peelinga solidification substrate from a solidified material;

FIG. 19 is a first perspective view of a first alternative embodiment ofa solidification substrate assembly connected to a work table with thesolidification substrate assembly shown in an open position;

FIG. 20 a is a second perspective view of the solidification substrateassembly of FIG. 19;

FIG. 20 b is a longitudinal cross-sectional view of the solidificationsubstrate assembly taken along line 20 b-20 b of FIG. 20 a;

FIG. 20 c is a third perspective view of the solidification substrateassembly of FIG. 19 disconnected from a work table;

FIG. 21 is a schematic used to depict the operation of thesolidification substrate assembly of FIG. 19 in a first configuration;

FIG. 22 is a schematic used to depict the operation of thesolidification substrate assembly of FIG. 19 in a second configuration;

FIG. 23 is a schematic used to depict the operation of thesolidification substrate assembly of FIG. 19 in a third configuration;

FIG. 24 is a schematic used to depict the operation of thesolidification substrate assembly of FIG. 19 in a fourth configuration;

FIG. 25 is a film transfer imaging rapid prototyping system with a filmpeeling member;

FIG. 26 is a top plan view of a second alternative embodiment of asolidification substrate assembly;

FIG. 27A is a cross-sectional view of the solidification substrateassembly of FIG. 26 taken along the line A-A with the assembly in afirst film peeling configuration;

FIG. 27B is a cross-sectional view of the solidification substrateassembly of FIG. 26 taken along the line A-A with the assembly in asecond film peeling configuration;

FIG. 27C is a cross-sectional view of the solidification substrateassembly of FIG. 26 taken along the line A-A with the assembly in athird film peeling configuration;

FIG. 28 is across-sectional view of the solidification substrateassembly of FIG. 26 taken along the line B-B;

FIG. 29A is an exploded perspective view of the multi-layer assembly ofthe solidification substrate assembly of FIG. 26;

FIG. 29B is an exploded side elevational view of the multi-layerassembly of the solidification substrate assembly of FIG. 26;

FIG. 30A is an exploded perspective view of the multi-layer assembly ofthe solidification substrate assembly of FIG. 26, depicted with the filmassembly in an assembled configuration;

FIG. 30B is an exploded side elevational view of the multi-layerassembly of the solidification substrate assembly of FIG. 26, depictedwith the film assembly in an assembled configuration;

FIG. 31 is a close-up cut-away cross-sectional view of the multi-layerassembly of the solidification substrate assembly of FIG. 26;

FIG. 32A is a perspective view of an embodiment of a solidificationsubstrate assembly with a force sensor, depicted with the solidificationsubstrate assembly in an open configuration relative to a work table;

FIG. 32B is a close-up perspective view of the solidification substrateassembly of FIG. 32A showing the force sensor attachment to a work tableand the solidification substrate assembly in a closed position relativeto the work table;

FIG. 33 is a flow chart depicting a method of forming athree-dimensional object using the solidification substrate assembly ofFIG. 26;

FIG. 34 is a flow chart depicting a method of forming athree-dimensional object using the solidification substrate assembly ofFIG. 26 with a force sensor and peeling member controller;

FIG. 35 is a flow chart depicting a method of forming athree-dimensional object using the solidification substrate assembly ofFIG. 26 with a force sensor and a pattern generator controller;

FIG. 36 is a perspective view of a third alternative embodiment of asolidification substrate assembly;

FIG. 37 is an exploded view of the solidification substrate assembly ofFIG. 36;

FIG. 38 is a top plan view of the solidification substrate assembly ofFIG. 36 depicting an exposure sub-area in a first position with respectto total exposable area of a solidification material;

FIG. 39 is a top plan view of the solidification substrate assembly ofFIG. 36 depicting an exposure sub-area in a first position with respectto total exposable area of a solidification material;

FIG. 40 is a bottom plan view of the solidification substrate assemblyof FIG. 38.

FIG. 41 is a perspective view of a rigid or semi-rigid transparentsolidification substrate with attachment brackets;

FIG. 42 is a perspective view of the film peeling member assembly of thesolidification substrate assembly of FIG. 36;

FIG. 43 is a side elevational, cross-sectional view of thesolidification substrate assembly of FIG. 36 taking along line A-A; and

FIG. 44 is a flow chart used to illustrate a method of making athree-dimensional object using the solidification substrate assembly ofFIG. 36.

DETAILED DESCRIPTION

The Figures illustrate examples of a system and method formanufacturing. Based on the foregoing, it is to be generally understoodthat the nomenclature used herein is simply for convenience and theterms used to describe the invention should be given the broadestmeaning by one of ordinary skill in the art.

The system and methods described herein are generally applicable toadditive manufacturing of three-dimensional objects, such as componentsor parts (discussed herein generally as objects), but may be used beyondthat scope for alternative applications. The system and methodsgenerally include a solidification substrate against which asolidifiable material is solidified as an object is built from thesolidification material. The solidification substrate facilitates thecreation of a substantially planar surface of solidification materialwhich is exposed to energy provided by a pattern generator. Thesubstantially planar surface improves the accuracy of the build process.In certain embodiments, as discussed below, the solidification substrateis tiltable to facilitate the separation of solidified material from thesolidification substrate. In certain other embodiments, a peeling memberis provided to separate the solidification substrate assembly from anobject being built. In further embodiments, a force sensor is attachedto the solidification substrate assembly and is used to determine whento apply the force peeling member and/or when to expose the solidifiablematerial to solidification energy.

The system is generally used for manufacturing three-dimensional objectsfrom a solidifiable material and rapid prototyping. A pattern generator(such as a digital light projector, laser, etc.) provides an image tothe solidifiable material to selectively solidify it.

As discussed herein, a solidifiable material is a material that whensubjected to energy, wholly or partially hardens. This reaction tosolidification or partial solidification may be used as the basis forconstructing the three-dimensional object. Examples of a solidifiablematerial may include a polymerizable or cross-linkable material, aphotopolymer, a photo powder, a photo paste, or a photosensitivecomposite that contains any kind of ceramic based powder such asaluminum oxide or zirconium oxide or ytteria stabilized zirconium oxide,a curable silicone composition, silica based nano-particles ornano-composites. The solidifiable material may further include fillers.Moreover, the solidifiable material my take on a final form (e.g., afterexposure to the electromagnetic radiation) that may vary fromsemi-solids, solids, waxes, and crystalline solids.

When discussing a photopolymerizable, photocurable, or solidifiablematerial, any material is meant, possibly comprising a resin andoptionally further components, which is solidifiable by means of supplyof stimulating energy such as electromagnetic radiation. Suitably, amaterial that is polymerizable and/or cross-linkable (i.e., curable) byelectromagnetic radiation (common wavelengths in use today include UVradiation and/or visible light) can be used as such material. In anexample, a material comprising a resin formed from at least oneethylenically unsaturated compound (including but not limited to(meth)acrylate monomers and polymers) and/or at least one epoxygroup-containing compound may be used. Suitable other components of thesolidifiable material include, for example, inorganic and/or organicfillers, coloring substances, viscose-controlling agents, etc., but arenot limited thereto.

When photopolymers are used as the solidifiable material, aphotoinitiator is typically provided. The photoinitiator absorbs lightand generates free radicals which start the polymerization and/orcrosslinking process. Suitable types of photoinitiators includemetallocenes, 1,2 di-ketones, acylphosphine oxides,benzyldimethyl-ketals, α-amino ketones, and α-hydroxy ketones. Examplesof suitable metallocenes include Bis (eta5-2,4-cyclopenadien-1-yl)Bis[2,6-difluoro-3-(1H-pyrrol-1-yl)phenyl]titanium, such as Irgacure 784, which is supplied by CibaSpecialty chemicals. Examples of suitable 1,2 di-ketones includequinones such as camphorquinone. Examples of suitable acylphosphineoxides include bis acyl phosphine oxide (BAPO), which is supplied underthe name Irgacure 819, and mono acyl phosphine oxide (MAPO) which issupplied under the name Darocur® TPO. Both Irgacure 819 and Darocur® TPOare supplied by Ciba Specialty Chemicals. Examples of suitablebenzyldimethyl ketals include alpha,alpha-dimethoxy-alpha-phenylacetophenone, which is supplied under thename Irgacure 651. Suitable α-amino ketones include2-benzyl-2-(dimethylamino)-1-[4-(4-morpholinyl)phenyl]-1-butanone, whichis supplied under the name Irgacure 369. Suitable α-hydroxy ketonesinclude 1-hydroxy-cyclohexyl-phenyl-ketone, which is supplied under thename Irgacure 184 and a 50-50 (by weight) mixture of1-hydroxy-cyclohexyl-phenyl-ketone and benzophenone, which is suppliedunder the name Irgacure 500.

The pattern generator(s) may be configured in a number of ways. Many mayprovide controlled electromagnetic radiation to provide a desiredpattern. The electromagnetic radiation may include actinic light,visible or invisible light, UV-radiation, IR-radiation, electron beamradiation, X-ray radiation, laser radiation, or the like. Moreover,while each type of electromagnetic radiation in the electromagneticspectrum may be discussed generally, the disclosure is not limited tothe specific examples provided. Those of skill in the art are aware thatvariations on the type of electromagnetic radiation and the methods ofgenerating the electromagnetic radiation may be determined based on theneeds of the application.

Referring to FIGS. 1A and 1B, a first illustrative example of a system40 for making a three-dimensional object from a solidifiable material 41is described. System 40 is generally configured to receive datadescribing the shape and appearance of the object (such as CAD data) andto create a solid object 44 in conformity with the data. System 40includes a solidifiable material 41, which in the example of FIG. 1A isa photopolymeric resin capable of being selectively hardened by theapplication of electromagnetic radiation. Container 42 is a generallyrigid vessel with an empty interior that holds solidifiable material 41.Build platform 46 is a generally rigid platform on which object 44 isprogressively built from a first end proximate build platform 46 to anopposite end distal from build platform 46. Build platform 46 isgenerally moveable in a vertical direction as indicated by the downwardpointing arrow. Motor “M” actuates the movement of build platform 46.FIG. 1A depicts a first position of build platform 46 in which patterngenerator 50 has just solidified solidifiable material 41, and FIG. 1Bdepicts a second position of build platform 46 in which build platform46 has moved away from solidification substrate 79, thereby separatingthe upper, most recently solidified surface 54 of object 44 fromsolidification substrate 79, as discussed further below.

Object 44 is shown here as an example of a design that is made by system40. The size, shape, or any other feature of object 44 is a function ofenergy pattern 51 and the motion of object build platform 46. Forexample, the arbitrary shape shown is produced through movement ofsupport plate 46 downward while pattern generator 50 selectively hardenssolidifiable material 41. However, such a shape could also beconstructed as a series of layers by moving object build platform 46 acertain distance downward and then exposing solidifiable material 41 toenergy supplied by pattern generator 50 for a predetermined time, andthen repeating the process until the object is built.

Pattern generator 50 is positioned to supply solidification energy 51such as electromagnetic radiation to solidifiable material 41 toselectively solidify material 41 in accordance with a generated energypattern 51. In an example wherein pattern generator 50 is a digitallight projector, the generated energy pattern 51 comprises volumetricpixels or “voxels.” Each voxel defines a position in the x, y plane ofthe exposed surface 55 (FIG. 1B) of solidifiable material 41 as well asa solidification depth, z, which is a distance below exposed surface 55in which solidification occurs. At any given location on exposed surface55, the voxel depth will depend, at least in part, on the localizedintensity of the energy supplied by pattern generator 50 (e.g., lightintensity) as well as the time period for which the energy is supplied.In an example wherein pattern generator 50 is a moving light source(e.g., a movable laser), the generated energy pattern corresponds to thepath of travel of the light source. Again, the depth of curing at anyparticular location will depend, at least in part, on the exposure timeand intensity of the energy supplied.

Control unit 62 supplies image data 48 to pattern generator 50 to drivethe pattern generation process. Image data 48 may include voxel datathat includes an intensity for each pixel in the x, y plane, slice-datafiles, or bitmaps that are derived from slice-data files. Typical filetypes used to generate bitmaps include STL (Stereo Lithography) files orother CAD (Computer Aided Drafting) files commonly translated for rapidprototyping systems into formats such as SLC, CLI slice data files orvoxelized data files which may include data formats such as BMP, PNG,etc. However, any data input type may be used and converted internallyto create the image data 48 used by the pattern generator 50. Image data48 corresponds to energy pattern 51 and may be generated by control unit62, by pattern generator 50, or by an external source or device (e.g., anetwork or storage device). Image data 48 may also be modified to aformat suitable for pattern generator 50 (e.g., modification of acompressed file such as a TIFF file using CCIT type 4 compression into astandard bitmap). In general, image data 48 may be bi-tonal bitmapimages, “grayscale” (e.g., pixel data with variable energy intensitiesand/or exposure times associated with each pixel), color, or color withintensity and/or exposure time information. Other pattern formats may beavailable for use such as JPEG, DXF, BMP, PNG, SVG, etc., or othervector or pixel-defined image files (which may be based on industrystandards or custom file types).

In certain examples, image data 48 comprises voxel data. Voxel data maybe considered a collection or set of data that represents volumetricpixels. The voxel data may be organized into a voxelized bitmap patternthat includes a grayscale value for each pixel and/or an exposure time.The voxelized bitmap may be considered an organized collection ofindividual voxels, each voxel having its own depth that is independentof the other voxels. Although the voxels may be organized into a bitmap,each voxel is generally treated individually and has its own curingdepth (which can be determined by the exposure time and/or intensityvalue assigned to each voxel) to determine each voxel's geometryindependent of any other voxel data. The object 44 may be formed usingthe voxel data where each voxel may be created in the solidifiablematerial 41 by exposing the exposed surface 54 to obtain a particulardepth of cure (typically determined by the grayscale value and/orexposure time) and thereby create the three-dimensional voxel in thesolidifiable material 41. Each voxel may be generated individually, in agroup or subset (e.g., more than one voxel), or as a whole of the voxeldata (e.g., all voxels at once).

Two-dimensional bitmap data may also be used as image data 48. Thebitmap information may be a typical (x,y) location for a pixel (whetherinherent to the file format or having specified locations). Thegrayscale value represents a total exposure for the pixel (where totalexposure for the pixel is expressed as follows:

Total Exposure═∫Idt

where I is the intensity of the supplied solidification energy (e.g.,Watts/pixel) and the integration is performed over the exposure timeperiod, Δt. In certain examples, the grayscale output value may be usedto control the pattern generator's output to provide full intensity, nooutput, or variations in between. In processes using a fixed exposuretime per pixel, the pattern generator may reduce the amount ofelectromagnetic radiation (e.g., intensity, I) that the solidifiablematerial 41 is exposed to for each pixel for the specified exposuretime. For example, where a DLP® type pattern generator is used, the DLP®micro-mirror for a particular pixel or group of pixels may be positionedto direct the electromagnetic radiation away from the solidifiablematerial 41. Thus, the electromagnetic radiation is reflected away, butnot necessarily completely, from the solidifiable material 41 using themicro-mirror to reduce or eliminate exposure after the elapsed time.Alternatively, the pattern generator 50 may “turn off” the lightentirely for that pixel after the exposure time has elapsed. When usinga voxelized construction process, each voxel may have its own thickness(e.g., depth of cure) which is controlled by the grayscale value.

In an example where a grayscale value is assigned to a pixel and a DLP®type pattern generator 50 is used, the DLP® micro-mirror may be moved soas to expose the pixel at the build surface in an alternating manner toprovide an overall grayscale value. Where a 50% grayscale is desired,the micro-mirror may be moved so that the solidifiable material 41 isexposed for 50% of the time, and the other 50% of the time themicro-mirror may be moved so as to reflect light away from thesolidifiable material 41.

Control unit 62 may be constructed as part of an integralthree-dimensional object forming machine, portions of a machine withoutdirect connection to the machine, or distributed elsewhere and connectedvia a communication medium, such as a network. Control unit 62 may be,for example, a computing device (that may be an embedded resource,external, or a distributed resource) and may be configured as acomputer, a programmable logic device, a specialized processor, etc.Control unit 62 also receives a signal indicative of the level ofexposed surface 54 in container 42. Based on the signal, control unit 62adjusts the flow rate from reservoir 60.

As discussed below, the systems and methods described herein may be usedwith “downward”, “upward” and “side” projecting systems in continuous ornon-continuous exposure modes (e.g., pattern generating modes), any ofwhich may include additional optical elements such as a mirrors orlenses. The systems and methods may be used in a layer, slice, orvoxelized data production process, among others, where the patterngenerating system provides the electromagnetic radiation to react with(e.g., solidify or partially solidify) a solidifiable material 41 orother material to create the three-dimensional object. Moreover, thesystems and methods described herein may also apply to layeredconstruction processes using “upward” or “downward” build directionsthat may use lithography (generally), FTI (Film Transfer Imaging),three-dimensional Printing technologies, SLS (Selective Laser Sintering)or SLA (Stereolithography Apparatus). Examples of pattern generator 50may include Digital Light Processing technology (DLP) from TexasInstruments® or SXRD™ or LCD or LCOS or J-ILA from JVC, or LVT (LightValve Technology), DMD (digital mirror device), or GLV (Grating LightValve) technology, SLM (Spatial light modulator), or any type ofselective electromagnetic radiation or light modulation system, inaddition to a scanned and/or vector pattern generators (e.g., using alaser).

The matching of technologies between the pattern generator 50 andsolidifiable material 41 may be determined based on the compatibility ofthe respective technologies used (e.g., a reactive UV photopolymermaterial and a UV pattern generator). Typical solidifiable materialsinclude photo-reactive (or photo curable) resins that may be in liquid,paste, powder, or other form. Moreover, the systems and methodsdescribed herein are not tied to a particular pattern generator orimager technologies.

In the case of voxel-based systems, the electromagnetic radiationsupplied by pattern generator 50 may have an adjustable intensity range.In one example of a voxel-based system, electromagnetic radiation frompattern generator 50 is scaled from zero (the minimum) to 255 (maximum).Pattern generator 50 may receive bitmaps having intensity and/orexposure time values for each individual pixel. However, in an examplewhere each voxel is individually addressed (e.g., x_(i), y_(i), z_(i)),bitmaps are unnecessary since pattern generator 50 can uniquely receiveand access each voxel. The bitmaps include “bits” or regions thatcollectively determine the energy pattern 51. These “bits” or regions(e.g., that make up the voxelized bitmap) are typically defined asrectangular or square regions, but when each “bit” is treated as avoxel, the depth of cure (which determined the depth of the voxel) maybe determined for each voxel independently of the other.

Each bit in a bitmap may also have a unique intensity value associatedwith it. Thus, a voxelized bitmap may cover a wide range of curingdepths through the use of the independent grayscale value associatedwith each bit. Although the intensity may be used to adjust the totalexposure that a given voxel receives, the exposure time may also beused. In addition, methods using both a variable intensity and variableexposure time for each pixel may be used.

While the intensity may be expressed as an integer number on a referencescale (e.g., 0 . . . 255), the intensity value may also be compensatedor adjusted before being sent to the pattern generator, or may becompensated or adjusted at the pattern generator, or both. For example,where solidifiable material 41 has a minimum intensity threshold that isrequired for polymerization or partial-polymerization, the “off” or zero(0) value intensity (e.g., brightness and/or “on” time) may bedetermined based on the minimum intensity threshold specific to theparticular solidification material 41. A zero value for intensity doesnot necessarily imply that the energy supplied by pattern generator 50is actually zero. In a typical case, a low level of brightness maycorrespond to a zero (0) intensity.

Intensity ranges of 0 to 255 are convenient for examples when an 8-bitsystem is used to determine intensity. However, systems having more orless resolution for intensity may be used. Examples may include a 4 bitsystem or a 16 bit system. Further, the exposure time of theelectromagnetic radiation may have a wide range, for example, 1millisecond to 100 seconds. Note that the time range is merely anexample and is not limiting as the “on time” for the electromagneticradiation may be dependent on other variables such as the minimumswitching time of the pattern generator, the intensity of theelectromagnetic radiation, the solidifiable material's minimum effectivetime and radiation intensity for solidification, the speed of movementof build platform 46, and other factors.

Both intensity and exposure time, or either of them, may be parametersfor the bitmap. For example, when a pattern generator 50 has a fixedintensity (such as a laser), the time the source is “on” may bemodulated to produce a total exposure value. Alternatively, where thetime of exposure is a predetermined value, the intensity of the voxelsgenerated by pattern generator 50 may be modified produce the desiredtotal exposure value.

As discussed herein, with respect to a pixel the term “total exposure”may be considered the integral of the product of the electromagneticradiation intensity with respect to time (E=∫I dt) over the exposureperiod. When performing voxelized construction, the total exposuredetermines the depth of cure for each voxel separately and independentlyof any other voxel. The time and intensity to achieve a particular depthof cure is material dependent. Thus, the time and intensity determinedto provide a particular curing depth for a first solidifiable material41 may not be usable for a second solidifiable material 41. Thus, thedepth of cure can be a function of at least the exposure time, theintensity of the electromagnetic radiation, and the properties of thesolidifiable material 41. The combination of intensity and exposure timecan be expressed independently (e.g., in data file or data structure) orthey may be combined and expressed for each voxel as a grayscale valuewhere the exposure time is predetermined.

However, solidifiable material 41 may behave differently based on theintensity of electromagnetic radiation and/or the time. For example, alow level intensity may not reach a minimum threshold required for thesolidifiable material 41 to become wholly or partially solidified. Inthis case, no amount of exposure time will be sufficient to harden thesolidifiable material 41 because the necessary polymerization and/orcross-linking reactions will not be initiated. Alternatively, a higherintensity may cause solidifiable material 41 to become solidified orpartially solidified non-linearly faster.

As indicated in FIG. 1A, solidification substrate 79 is a substantiallyplanar substrate that rests on the exposed surface 54 of solidificationmaterial 41. Solidification substrate 79 is generally rigid orsemi-rigid and substantially permeable to the energy supplied by patterngenerator 50. In certain examples, it is preferred that the energy frompattern generator 50 can pass through solidification substrate uppersurface 81 and lower surface 83 without a significant diminution intransmitted energy or a significant alteration of the energy spectrumtransmitted to solidification material 41 relative to the spectrum thatis incident to solidification substrate upper surface 81. In the casewhere energy pattern 51 is a light pattern (including non-visible lightsuch as UV light), solidification substrate 79 is preferablysubstantially translucent to the wavelengths of light supplied bypattern generator 50. As energy is supplied to exposed surface 83,solidification material 41 will begin to solidify in accordance with theenergy pattern 51 supplied by pattern generator 50. Build platform 46moves away from solidification substrate 79 during an object buildingoperation, causing fresh solidification material 41 to be supplied tothe space between previously solidified portions of object 44 andsolidification substrate 79 (FIG. 1B). Once the upper surface 54 of thepreviously solidified portion of the object reaches a certain distancefrom solidification substrate 79, pattern generator 50 again applies anenergy pattern 51 to upper surface 55 (FIG. 1B) of the solidifiablematerial 41. The process repeats itself until the object 44 is built. Incertain illustrative examples, build platform 46 stops at periodicintervals, and pattern generator 50 supplies energy pattern 51 to theexposed solidification material 41 at exposed solidifiable materialsurface 55. In other examples, build platform 46 moves continuously awayfrom solidification substrate 79 during an object building operation.

As an object building operation proceeds, solidified material may adhereto bottom surface 83 of solidification substrate 79. If the forces ofadhesion between solidification substrate 79 and object 44 are toostrong, the movement of build platform 46 away from solidificationsubstrate 79 can cause object 44 to break or distort. To reduce thelikelihood of such breakage or distortion, it is preferred that object44 have greater adhesion to build platform 46 than to solidificationsubstrate 79. It is also preferred that recently solidified material atthe upper surface 54 of the object 44 adhere more strongly to thepreviously solidified material below it than to solidification substrate79.

One exemplary illustration of a solidification substrate 79 a isdepicted in FIG. 3. Substrate 79 a is depicted in an exaggeratedperspective view to better illustrate layers 80 a, 82 a, and 84 a. Atypical exemplary substrate 79 a will be significantly thinner andflatter than shown in the figure. Solidification substrate 79 acomprises a first translucent layer 84 a that is rigid or semi-rigid.One example of a rigid or semi-rigid layer 84 a is a translucent floatglass. Another example is a translucent plastic. A variety of differentfloat glasses and plastics may be used. Exemplary plastics that may beused include transparent acrylic plastics supplied by Evonik under thename Acrylite®. First translucent layer 84 a is preferably rigid enoughto provide a substantially planar exposed surface 55 of solidificationmaterial 41 when energy pattern 51 is projected onto surface 55. Theterm “translucent” is meant to indicate that first layer 84 a is capableof transmitting the light wavelengths (including non-visible light suchas UV light if supplied by pattern generator 50) necessary to solidifysolidifiable material 41 and that the intensity of such wavelengths isnot significantly altered as the light passes through first layer 84 a.In the case of photopolymers, a photoinitiator is commonly provided tostart the polymerization/cross-linking process. Photoinitiators willhave an absorption spectrum based on their concentration in thephotopolymer. That spectrum corresponds to the wavelengths that mustpass through solidification substrate 79 (and, therefore, first layer 84a) and which must be absorbed by the photoinitiator to initiatesolidification.

In certain examples, solidification substrate 79 is provided with alocalized area of resiliency proximate the exposed surface 55 ofsolidification material 41. Referring to FIG. 3, a translucent resilientlayer 80 a is provided. The term “translucent” is again used in thesense described above with respect to rigid or semi-rigid firsttranslucent layer 84 a. A variety of different translucent resilientmaterials may be used for layer 80 a. When provided as a 10 mm layer,the resilient layer 80 a preferably transmits at least about 60 percentof received light in the 325-700 nm range. The resilient layer 80 apreferably has a 10 mm layer transmission percentage of at least about70 percent, more preferably at least about 80 percent, and even morepreferably at least about 88 percent for light in the 325-700 nm range.The resilient layer 80 a preferably also has a percent elongation atbreak (according to ISO 37) that is at least about 80 percent, morepreferably at least about 90 percent, even more preferably at leastabout 95 percent, and still more preferably at least about 100 percent.In addition, resilient layer 80 a preferably has a tensile strength(according to DIN ISO 37) that is at least about 3.0 N/mm², morepreferably at least about 5.0 N/mm², even more preferably at least about6.0 N/mm², and still more preferably at least about 7.0 N/mm².

Resilient layer 80 a may be formed from one or more elastomericpolymers. In one example, silicone elastomers are provided. Oneparticular example of a suitable silicone elastomer is Elastosil® RT601, which is supplied by Wacker Silicones. Elastosil® RT 601 is atransparent, addition-curing silicone rubber having greater than 88percent transmission of light in the 325-700 nm range (for a 10 mmlayer). The material has an elongation at break of about 100 percent(ISO 37), and a tensile strength of about 7.0 N/mm² (DIN ISO 37) tearstrength (ASTM D 624B) of about 3.0 N/mm². Resilient layer 80 a may beconnected to first translucent layer 84 a using known techniques. In oneexample, an adhesive such as a pressure sensitive adhesive is used tobond resilient layer 80 a and first translucent layer 84 a together. Theadhesive preferably does not significantly alter the wavelengths ofintensities of electromagnetic radiation transmitted through layers 80 aand 84 a.

Certain solidifiable materials 41 may include components that chemicallydegrade translucent resilient layer 80 a. For example, when certainphotoinitiators are used to cure polymeric resins, the solidificationprocess may be damage layer 80 a. Accordingly, in certain examples, atranslucent protective film 82 a is provided. Translucent protectivefilm 82 a is preferably a homopolymer or copolymer formed fromethylenically unsaturated, halogenated monomers. Fluoropolymers arepreferred. Examples of suitable materials for protective film 82 ainclude polyvinylidene fluoride (PVDF), ethylenchlorotrifluoroethylene(ECTFE), ethylenetetrafluoroethylene (ETFE), polytetrafluoroethylene(PTFE), perfluoroalkoxy (PFA), and modified fluoroalkoxy (a copolymer oftetrafluoroethylene and perfluoromethylvinylether, also known as MFA).Examples of suitable protective film 82 a materials include PVDF filmssold under the Kynar name by Arkema, ECTFE films sold under the Halarname by SolvaySolexis, ETFE films sold under the Tefzel® name by DuPont,PFA films sold under the Teflon®-PFA name by DuPont, and MFA films soldunder the name Nowofol.

In one example, solidification material 41 comprises a 1,6 hexanedioldiacrylate and/or trimthelolpropane triacrylate (TMPTA) with anacylphosphine oxide initiator, such as Irgacure 819. Without wishing tobe bound by any theory, it is believed that thephotopolymerization/photocrosslinking reaction that occurs generates anamount of heat that can damage elastomeric translucent layer 80 a.Accordingly, in such examples an MFA protective film layer 82 a isprovided to reduce the effect of the generated heat on translucentresilient layer 80 a. In another example, solidification material 41comprises 1,6 hexanediol diacrylate and/or TMTPA with a Darocur TPOinitiator. Again, it is believed that thephotopolymerization/photocrosslinking reaction generates an amount ofheat that may damage elastomeric translucent layer 80 a. Accordingly, insuch examples, an MFA protective film layer 82 a is provided.

In certain cases, the force required to separate a solidified section ofobject 44 from solidification substrate 79 will be low enough that theresiliency provided by translucent resilient layer 80 a will not berequired. However, protective film 82 may still be used to protect therigid or semi-rigid translucent layer 80. Referring to FIG. 4, asolidification substrate 79 b is provided which comprises rigid orsemi-rigid translucent layer 84 b and translucent protective film 82 b.In certain examples a slipping agent is included in the composition ofsolidifiable material 41, allowing for better release of solidifiedobject section 44 from solidification substrate 79 b, eliminating theneed for a resilient layer. Suitable slipping agents include TEGORAD2250 from the Degussa Company and silicone agent EFKA 7454 from the EFKACompany. In certain other cases, thephotopolymerization/photocrosslinking reaction proceeds without damagingthe resilient translucent layer 80 a or translucent rigid or semi-rigidlayer 84 a through the generation of excess heat or otherwise. In suchcases, protective film 82 a is not required. Referring to FIG. 5, asolidification substrate 79 c is provided which comprises a rigid orsemi-rigid translucent layer 84 c and an elastomeric translucent layer80 c. In one example, a resin such as TMPTA, IBOA, or Ebecryl 3500 isused with an Irgacure 784 initiator and no protective film is required.

In FIGS. 1A-1B, the object 44 is progressively built in a verticallyupward direction by moving build platform 46 progressively downward intoresin container 42. However, other build orientations and directions maybe used. FIGS. 2A-2B depict another system 70 for making athree-dimensional object 78 from a solidifiable material 92. FIG. 2Adepicts system 70 with build platform 74 in one position relative tosolidification substrate 79 a, while FIG. 2B depicts build platform 74in another position relative to solidification substrate. In FIG. 2A,recently solidified material is adhered to solidification substrate 79a, while in FIG. 2B, the recently solidified object surface 77 is spacedapart from solidification substrate 79 a with solidifiable material 92occupying the space therebetween. Solidifiable material 92 is of thetype described previously for solidifiable material 41 in FIG. 1A. Insystem 70, a build platform 74 is suspended on a support 76 that isattached to an elevator 89. Elevator 89 progressively moves buildplatform 74 in a vertically upward direction during an object buildingoperation. Pattern generator 86 is provided underneath build platform 74and is disposed in housing 72. Pattern generator 86 projects an energypattern 88 in an upward direction to solidify solidifiable material 92contained in a trough 97. Although not separately shown in FIGS. 2A-2B,a control unit is provided to direct the actuation of elevator 89 and toprovide the necessary image data to pattern generator 86. Patterngenerator 86 is of the type described previously with respect to thepattern generator 50 of FIG. 1A.

The process of solidifying solidifiable material 92 may occur indiscrete steps with the formation of discrete object layers or withoutthe use of a layered formation process. In particular, a continuousbuild process may be used in which build platform 46 moves during theentire build process. Even with continuous build processes, due topossible electromagnetic radiation interruptions, some slight interfacelayer formation could still occur. Nevertheless, such interfaceformation can be minimized or even totally eliminated. It is furtherpossible to dispense with the generation of sliced image data, forexample, by using voxel data. Moreover, the relative movement betweenthe build platform 46 and the solidification substrate 79 a can beachieved in several ways. In one example, build platform 46 is movedwhile the solidification substrate 79 a remains stationary. In anotherexample, the solidification substrate 79 a moves while the buildplatform 46 remains stationary. In the latter case, the level ofsolidifiable material 41 is preferably increased so that solidifiablematerial 41 remains in contact with solidification substrate 79 a as thesubstrate moves.

When continuous build processes are used, structural “steps” thatsometimes appear in the outer contours of objects built with layerprocesses can be minimized. In continuous build processes, thethree-dimensional object 44, 78 is allowed to solidify or grow in themain building direction (typically in the Z-direction) withoutinterrupting the supply of electromagnetic radiation during anirradiation phase and optionally during the whole building process. Thecorresponding continuous growth of solidifiable material 41 in the mainbuilding (Z) direction during an irradiation phase may thus proceed atan extent exceeding a usual hardening depth typical of conventionallayer-wise solidification and which is predetermined by the used supplyof electromagnetic radiation and/or by a used polymerizable material.

By the layer-independent continuous operation, it is even possible tospecifically influence and to control a current hardening depth of thesolidifiable material 41. An adjustment of the speed of the supportplate supporting the object to be generated moving away from thebuilding surface, and an adjustment of the irradiation intensity ofpixels (grey value or color value), respectively alone or incombination, are particular means for controlling the hardening depth.

Systems 40, 70 allow the provision of a three-dimensional object, whichhas been formed by electromagnetic radiation of a solidifiable material41 using a continuous construction method, but without separatelypolymerized structure elements that might be formed from layers, dots orstrands of the photopolymerizable material. Unlike conventionalstereolithography or other conventional free-form building techniquessuch as selective laser sintering, ballistic particle production, fusiondeposition modeling, three-dimensional printing, three-dimensionalplotting or other rapid prototyping processes, three-dimensional objectshaving no separate layers or individual material strands or dots can beprovided through an uninterrupted continuous build process avoidingformation of layer lines or visible cross-sections in the Z direction.The technique is particularly suitable for providing a three-dimensionalobject which comprises different sectional areas in the direction ofcontinuous material construction.

Referring again to FIGS. 2A and 2B, solidification substrate 79 a isprovided and is of the type described previously. Solidifiable material92 disposed between object 78 and solidification substrate 79 a (FIG.2B) defines an exposed solidifiable material surface 75 (FIG. 26).Pattern generator 86 projects an energy pattern 88 onto exposed surface77, causing the solidifiable material 92 to selectively harden inaccordance with the projected pattern 88. In the example of FIGS. 2A-2B,solidification substrate 79 a is generally of the type depicted anddescribed in FIG. 3. Rigid or semi-rigid translucent layer 84 is mountedin a complementary opening formed in the upper surface of housing 72.Elastomeric translucent layer 80 is bonded to rigid or semi-rigidtranslucent layer 84 and is positioned vertically above rigid orsemi-rigid translucent layer 84 a. Protective film 82 is positionedabove elastomeric translucent layer 80 a. However, depending on thenature of the solidifiable material 92, the other solidificationsubstrates 79 b and 79 c depicted in FIGS. 4 and 5 may be used. As theobject build process progresses, elevator 89 moves build platform 74upward, which causes the lower surface 77 of object 78 to move away fromsolidification substrate 79 a, allowing additional solidifiable material92 to then flow into the space between the solidified lower surface 77of object 78 and solidification substrate 79 a (FIG. 2B). Although notdepicted, a system may also be provided for filling trough 97 withadditional solidifiable material 92 based on a level of material 92measured in trough 97.

As will be discussed in detail below, a solidification substrate systemmay be provided in which one or more layers of rigid, semi-rigid, and/orelastomeric materials cooperatively function as a solidificationsubstrate even though the layers are not physically bonded or connectedto one another.

In certain methods of making a three-dimensional object, it may bedesirable to include a mechanism for peeling solidified material fromsolidification substrate 79 a, 79 b, or 79 c to ensure completeseparation of the recently built section of the object and substrate 79a, 79 b, or 79 c. One such method is depicted in the flow chart of FIG.6. In accordance with the method, solidifiable material such as aphotopolymeric resin is supplied between the solidification substrateand 79 the build platform 46, 74 (Step 1010). If portions of the objecthave already been built on the platform, the solidifiable material willbe supplied to the location between the most recently solidifiedmaterial (e.g., object surface 54 in FIG. 1B and object surface 77 inFIG. 2B) and the solidification substrate. In step 1012, energy issupplied to the exposed surface (55,75) of the solidifiable material toselectively harden it in contact with the solidification substrate. Tobetter ensure full separation of the recently hardened material (55, 75)and the solidification substrate 79, in step 1014 the solidificationsubstrate is bi-directionally tilted to peel the exposed surface of theobject (i.e., the surface closest to the pattern generator) from thesolidification substrate 79. In one example, one end of thesolidification substrate 79 is tilted about a first tilting axis, andanother end of solidification substrate 79 is tilted about anothertilting axis. The build platform (46, 74) is then moved away from thesolidification substrate 79 to allow fresh solidifiable material (41,92) to be supplied to the space between the exposed object surface (55,75) and the solidification substrate 79. The process then returns tostep 1010 and repeats itself until the object is fully built. In thecase of continuous build processes, the build platform will keep movingduring the object build, and the pattern generation and peelingprocesses will occur as the platform moves.

Referring to FIGS. 7-17, a system 90 for making a three-dimensionalobject is depicted. System 90 includes a bi-directional peelingmechanism of the type described above. Although system 90 is used toillustrate a bi-directional peeling mechanism, it should be understoodthat the mechanism could be implemented on a variety of differentsystems, including those with pattern generators having moving orstationary sources of energy, for example digital light projectorsystems or laser systems. In addition, the bi-directional peelingmechanism can be used on both desktop and free standingthree-dimensional object manufacturing systems, as well as on systemsthat build upward or downward.

System 90 includes a housing 91 for supporting and enclosing thecomponents of system 90. Housing 91 includes a viewing window 94 that ismoveably disposed in a housing opening 96. Viewing window 94 allowsusers to observe an object as it is being built during an object buildoperation. In the example of FIGS. 7-17, viewing window 94 is mounted ona hinge 98 (FIG. 8), allowing the window 94 to be pivotally opened andclosed about the longitudinal axis of hinge 98, thereby providing accessto the built object once the build operation is complete.

Housing 91 also includes a lower compartment 93 (FIG. 8) for housing aphotopolymer resin container 100. Photopolymer resin container 100 ismounted on a sliding support assembly 102 that allows container 100 tobe slidably inserted and removed from lower compartment 93. The slidingsupport assembly 102 provides a means for adding or removingphotopolymer resin from container 100 or for replacing container 100.

In addition, housing 91 includes an upper compartment 127 (not shown)which is accessed via upper door 125 (FIG. 8). Upper compartment 127houses pattern generator 108 and pattern generator support platform 109(FIGS. 9-10). Upper door 125 is hingedly connected to housing 91,allowing it to be pivoted about a hinge to provide user access to uppercompartment 127. Pattern generator support platform 109 includes anopening 111 through which energy is projected from pattern generator 108to solidify the resin in container 100. In FIG. 8, one pattern generatoris depicted. However, multiple pattern generators may be used, and inone preferred example, two pattern generators comprising two DLPprojectors are provided.

Work table assembly 105 (FIG. 12) comprises a work table 110 and asolidification substrate assembly 114 (FIGS. 9-12). Work table 110 isdisposed in the interior of housing 91 between the upper compartment 127and the lower compartment 93 and includes opening 101 (FIGS. 10, 12)through which object build platform 104 is movably disposed. Opening 101is preferably at least partially aligned with pattern generator supportplatform opening 111 so that energy supplied by pattern generator 108 isincident on the top surface of the resin in container 100.

Build platform 104 (FIG. 10) is connected to elevator assembly 140 (FIG.10) which moves build platform 104 downward into resin container 100during an object build operation and upward out of resin container 100after an object build operation is complete. As indicated in FIG. 10,build platform 104 has a rest position in which it is elevated abovework table 110 to facilitate the removal of finished objects as well asthe removal of any excess resin on platform 104.

As best seen in FIGS. 11-12, solidification substrate assembly 114 ismoveably positioned in work table opening 101. Solidification substrateassembly 114 is pivotable from a closed position (FIG. 11) to an openposition (FIG. 12) about a hinge 115 defining a pivot axis.Solidification substrate assembly 114 includes solidification substrate79 which is mounted in a solidification substrate frame 118.Solidification substrate frame 118 comprises a plurality of sides, whichin the case of FIGS. 7-17 is four sides. Solidification substrate frame118 is mounted beneath and in abutting engagement with a load frame 116.

At least one compression spring assembly is provided to supply adownwardly exerted force against solidification substrate frame 118. Inthe example of FIGS. 7-12, the at least one compression spring assemblycomprises two compression spring assemblies, 120 a and 120 b, which arespaced apart from one another in the direction of the length L ofsolidification substrate assembly 114. Compression spring assembly 120 a(best seen in FIG. 13) comprises an upper housing 121 a ₁ and a lowerhousing 121 a ₂ with a plurality of springs 123 a spaced apart along thelength of compression spring assembly 120 a (i.e., spaced apart in thedirection of the width W of solidification substrate assembly 114.Shoulder pins 144 a ₁ and 144 a ₂ secure upper spring housing 121 a ₁ tolower spring housing 121 a ₂, while still allowing relative movementbetween upper spring housing 121 a ₁ and lower spring housing 121 a ₂.Although not fully visible in the figures, compression spring assembly120 b similarly comprises upper housing 121 b ₁, lower housing 121 b ₂,a plurality of spaced apart springs 123 b, and shoulder pins 144 b ₁ and144 b ₂. The upper spring housings 121 a ₁ and 121 b ₁ are mounted onopposing sides of the load frame 116, and the lower spring housings 121a ₂ and 121 b ₂ are mounted on corresponding opposing sides of thesolidification substrate frame 118. Registration members 134 a and 134 b(FIGS. 11-13) (e.g., pins) are provided proximate the upper surface ofsolidification substrate frame 118 and are spaced apart from one anotheralong the length L of solidification substrate assembly 114.Registration members 134 a and 134 b abut against work table 110 tovertically support solidification substrate frame 118 within work tableopening 101. Registration members 134 a, 134 b each project away fromthe pivot axis defined by load frame hinge 115 of solidificationsubstrate assembly 114 and provide a stop that limits the pivotalmovement of solidification substrate assembly 114 in a direction beneaththe plane of work table 110. In certain examples, registration members134 a and 134 b comprise threaded pins used to align solidificationsubstrate frame 118 parallel to build platform 104.

Work table assembly 105 also includes a bi-directional peeling mechanism113 (not separately shown in figures). As best seen in FIGS. 13-17,bi-directional peeling mechanism 113 includes at least one cam and atleast one corresponding cam follower. In the example of FIGS. 7-17, worktable assembly 105 includes two cams 126 a and 126 b which are eachmounted on opposite sides of solidification substrate frame 118 andspaced apart across the direction of the width W of solidificationsubstrate assembly 114. Cams 126 a and 126 b are substantially rigidmembers that are attached to solidification substrate frame 118, andeach of the cams 126 a and 126 b has a length that extends along all orpart of the side of solidification substrate frame 118 to which it isattached. Thus, each of cams 126 a and 126 b has a lengthwise directionthat is generally orthogonal to the lengthwise direction of springassemblies 123 a and 123 b. Load frame latch 112 (FIGS. 9-12, 14, 17) isconnected to work table 110 to releasably secure load frame 116 to worktable 110. When load frame latch 112 is secured to work table 110, theupward vertical movement of solidification substrate frame 118 islimited by the compressible distance of springs 123 a and 123 b.

As best seen in FIG. 14, cam 126 a has a downward facing surface 131 athat engages a corresponding cam follower 140 a. Although not visible inthe figures, cam 126 b similarly has a downward facing surface 131 bthat engages a corresponding cam follower 140 b. The cam followers 140 aand 140 b each traverse the length of their respective cams 126 a and126 b, engaging their corresponding downward facing surfaces 131 a and131 b. The downward facing surfaces 131 a and 131 b have a profile thatis designed to cause the solidification substrate frame 118 to tiltabout each of solidification substrate frame ends 170, 172 (FIG. 13) asthe cam followers 140 a and 140 b engage their respective cams 126 a and126 b and travel in a first direction along the length of cams 126 a and126 b. More specifically, as cam followers 140 a and 140 b traverse onefull length of their cams 126 a and 126 b, solidification substrateframe 118 tilts about a first one of its ends 170, 172 and then returnsto its starting position. As cam followers 140 a and 140 b travel in theopposite direction, solidification substrate frame 118 tilts aboutanother one of its ends and then returns to its starting position. Thus,system 90 has a multi-axis peeling mechanism that allows formulti-directional peeling. In system 90, the peeling occurs aboutopposite ends of substrate frame 118. However, additional tilting axesmay be provided. In addition, the tilting axes need not be substantiallyparallel, but may be substantially perpendicular or oriented indirections that are not orthogonal to one another.

To provide the foregoing tilting and peeling operations, cams 126 a and126 b preferably have variable engagement profiles (i.e., profiles alongtheir surfaces 131 a and 131 b which engage the cam followers 140 a and140 b). The variation in the profiles can be characterized by thedistance between the engagement surfaces (such as downward facingsurfaces 131 a and 131 b) and one or more reference planes. Thereference planes are preferably stationary during an object buildprocess. For example, work table 110 may serve as a reference plane.Referring to FIG. 14, at the ends 180 a/182 a and 180 b/182 b (notshown) of cams 126 a and 126 b (not shown), the downward facing surfaces131 a and 131 b are at their closest to work table 110. The verticaldistance between the downward facing surfaces 131 a/131 b and the worktable 110 increases moving from the cam ends 180 a/182 a and 180 b/182 btoward the minimum-section 139 a/139 b of each cam 126 a/126 b. Thus, atthe minimum sections 139 a and 139 b, the distances between the downwardfacing cam surfaces 131 a and 131 b and the work table 110 are at theirgreatest. Bottom surface 190 (FIG. 14) of solidification substrate frame118 may also serve as a reference surface. The spacing between the camends 180 a/182 a and 180 b/182 b and solidification substrate framebottom surface 190 is greater than anywhere else along cams 126 a and126 b, while the distance at the cam minimum sections 139 a and 139 b issmaller than anywhere else along the length of cams 126 a and 126 b.

As mentioned previously, solidification substrate assembly 114 ispivotable about a hinge 115 that defines a pivot axis. Morespecifically, load frame 116 is secured to hinge 115 at one end and isreleasably secured to work table 110 at another end with load framelatch 112 (FIG. 12). Solidification substrate frame 118 is not fixedlyattached to work table 110. Instead, it is attached to load frame 116via spring assemblies 120 a and 120 b and is restrained from downwardvertical movement by the abutment of registration members 134 a and 134b with work table 110. As a result, solidification substrate frame 118is vertically movable toward and away from load frame 116 as camfollowers 140 a and 140 b traverse the lengths of their respective cams126 a and 126 b.

Cam followers 140 a and 140 b (FIGS. 14-17) are provided with a verticalsupport that is spaced apart from cams 126 a and 126 b and which allowsthe followers 140 a and 140 b to maintain their vertical position asthey travel along the lengths of cams 126 a and 126 b. Referring toFIGS. 14-17, cam blocks 154 a and 154 b are provided and perform thisvertical support function. Cam followers 140 a and 140 b are rollersthat are rotatably mounted on roller axes (not shown) attached to camblocks 154 a and 154 b. The cam follower blocks 154 a and 154 b supportthe cam followers 140 a and 140 b and are connected to linear guideblocks 152 a and 152 b. Linear guide blocks 152 a and 152 b slidablyengage linear rails 156 a and 156 b, which are fixedly mounted to thebottom of work table 110, as shown in FIGS. 16 and 17. The engagement ofthe linear guide blocks 152 a/152 b and cam follower blocks 154 a/154 bwith work table 110 in this manner restrains the cam followers 140 a and140 b from vertical movement (i.e., movement perpendicular to work table110). As a result, when the cam followers 140 a and 140 b engage theircorresponding cams 126 a and 126 b, the solidification substrate frame118 tilts against the restoring force of springs 123 a and 123 b. Asbest seen in FIG. 17, the upper surface 157 a and lower surface 159 a ofcam follower block 154 a each serve as a stationary reference surfacefor purposes of characterizing the profile of cams 126 a and 126 b. Thecam ends 180 a/180 b and 182 a/182 b are the farthest vertically fromthe cam follower block surfaces 157 a/157 b and 159 a/159 b, while thecam minimum sections 139 a and 139 b are the closest to each of thesurfaces.

In one example, cam follower blocks 154 a and 154 b are each connectedto and move with corresponding timing belts 142 a and 142 b. As bestseen in FIGS. 15 and 16, timing belts 142 a and 142 b move along thedirection of the lengths of cams 126 a and 126 b and carry the camfollower blocks 154 a and 154 b as they move. Timing belts 142 a and 142b are connected to motor drive shaft 164 proximate one end of work table110 and are spaced apart from one another along the width W of worktable 110 and solidification substrate assembly 114. Timing belts 142 aand 142 b are connected to idler pulleys 122 a and 122 b proximate theopposite end of work table 110. Idler pulleys 122 a and 122 b arerotationally mounted on respective shafts 146 a and 146 b (FIGS. 16,17). Shafts 146 a and 146 b are connected to corresponding idler pulleybrackets 148 a and 148 b which are each connected to the underside ofwork table 110. Drive shaft 164 is rotated by motor 158. Gearbox 160houses transmission gears that transmit the motion of motor 158 to driveshaft 164 via coupling 162 (FIGS. 15-17). Drive shaft 164 is rotatablymounted in a pair of brackets 166 a and 166 b which are affixed to theunderside of work table 110 proximate one end of work table 110.

Cams 126 a and 126 b may have a variety of different profiles. Twodifferent cam profiles are illustrated in FIG. 12, and FIGS. 13-14,respectively. However, the profiles are preferably configured to providebi-directional peeling of solidification substrate 79 from the objectbeing formed by three-dimensional object manufacturing system 90. Thecams 126 a and 126 b may also be configured to provide multiple tiltingoperations if desired. A portion of one exemplary cam profile isdepicted in FIG. 14. FIG. 14 depicts approximately one half of thelength of work table 110. Cam 126 a is substantially symmetrical aboutits minimum section 139 a. As shown in the figure, cam 126 a has aminimum section 139 a and slopes upward (toward load frame 116) as thecam is traversed from minimum section 139 a to a first end 180 a of thecam along upwardly sloping section 137 a ₂. Cam 126 a also slopes upwardas cam 126 a is traversed from minimum point 139 a to a second end 182 a(opposite the first end and not visible in FIG. 14) of cam 126 a alongupwardly sloping section 137 a ₁. Minimum sections 139 a and 139 b maycomprise minimum points or lengths of cams 126 a, 126 b.

In FIG. 14, cam follower 140 a is in an initial position at cam end 180a in which solidification substrate frame 118 is substantially levelwith respect to work table 110. As cam follower 140 a moves from theposition shown in FIG. 14 to the minimum point 139 a along upwardlysloping section 137 a ₂, it exerts an upward force on the downwardfacing surface 131 a of cam 126 a. The upward force is to some extentopposed by the compressive force of springs 123 a. As cam 126 a istraversed, the vertically downward (i.e., orthogonally to the length ofcam 126 a) distance between the downward facing surface 131 a of cam 126a and cam follower block 140 a is reduced until cam minimum section 139a is reached. As a result, solidification substrate frame 118 tiltsabout frame end 172 (FIG. 13) in the direction of R₁ as cam follower 140a travels from cam end 180 a to minimum cam point 139 a.

When cam follower 140 a reaches minimum cam section 139 a, maximumtilting of solidification substrate frame 118 about frame end 172 (FIG.13) in the direction R₁ is achieved. As cam follower 140 a continues totravel from minimum cam section 139 a to the opposite end 182 a (FIG.13) of cam 126 a (i.e., the end proximate motor 158 a; FIG. 15) alongupwardly sloping section 137 a ₁, the solidification substrate frame 118begins to tilt in direction R₂ (e.g., counterclockwise) about the frameend 172 proximate motor 158. Once cam follower 140 a reaches the cam end182 a (FIG. 13), the solidification substrate frame 118 again becomessubstantially level with respect to work table 110 as is the case whencam 126 a is at cam end 180 a. As cam follower 140 a returns toward thecam minimum section 139 a from cam end 182 a, it first traverses alongdownwardly sloping section 137 a ₁ of the downward facing surface 131 aof cam 126 a. As cam follower 140 a travels toward minimum cam section139 a, solidification substrate frame 118 tilts in direction R₂ aboutframe end 170 (i.e., about the end proximate idler pulley 122 a). As camfollower 140 a travels from cam minimum point 139 a to cam end 180 a(i.e., the cam position shown in FIG. 14) along upwardly sloping section137 a ₂, solidification substrate frame 118 tilts in direction R₁ aboutframe end 170.

Therefore, as cam follower 140 a travels one complete cycle along cam126 a (i.e., from cam end 180 a to cam end 182 a and back again),solidification substrate frame 118 tilts about both its ends 170 and172. This multi-axial tilting action provides a multi-directionalpeeling action by causing solidification substrate 79 to peel away fromsolidified material in multiple directions, which in the case of FIGS.7-17 is two rotational directions, R₁ and R₂. Solidification substrateframe 118 peels in direction R₁ about both frame ends 170, 172 and peelsin direction R₂ about both frame ends 170, 172. As indicated earlier,cam follower 140 b travels along cam 126 b as cam follower 140 a travelsalong cam 126 a. The two cam followers 140 a and 140 b are preferablysubstantially synchronized as they move along their respective cams sothat they are at substantially the same position along the length oftheir respective cams, 126 a and 126 b, at any given time. Thus, thedownward-facing cam surface 131 a defines a cam profile along the lengthof cam 126 a which facilitates multi-directional peeling, or morespecifically, bi-directional peeling.

The bi-directional peeling system illustrated in FIGS. 13-16 is merelyexemplary and various different components and configurations can beused to provide bi-directional peeling. For example, instead of timingbelts 142 a and 142 b, screw drives may be used to advance cam blocks154 a and 154 b along the lengths of cams 126 a and 126 b, respectively.

In the previous example, during one round trip of a cam follower 140a/140 b (i.e., as it traverses its respective cam 126 a/126 b from oneend to the other and back again), four tilting operations and twopeeling operations are provided. The four tilting operations comprisetilting in each of directions R₁ and R₂ about each solidificationsubstrate frame end 170 and 172 and with respect to both object 44 andload frame 116. The two peeling operations occur as cam followers 140a/140 b traverse their respective cams 126 a/126 b from one end of thecam to the cam minimum section 139 a. However, additional tilting andpeeling operations may be provided, and in certain embodiments, the camprofiles are varied to provide for additional tilting and peelingoperations. Referring to FIGS. 12 and 18, cam 126 a has a profilesimilar to an elongated “W” with two minima, 138 a ₁ and 138 a ₂. Thelengthwise mid-point 136 a of cam 126 a is not a minimum point, butrather, is at the same vertical position as end points 180 a and 182 a.As cam follower 140 a travels from cam end 180 a to first minimumsection 138 a ₁ solidification substrate frame 118 tilts in direction R₃(FIG. 18) about frame end 172, resulting in a first tilting operationand a first peeling operation. As cam follower 140 a travels fromminimum section 138 a ₁ to mid-point 136 a, solidification substrateframe 118 begins to tilt in direction R₄ (FIG. 18) about frame end 172,resulting in a second tilting operation. As cam follower 140 a travelsfrom cam mid-point 136 a to second minimum section 138 a ₂,solidification substrate frame 118 again tilts in direction R₃ aboutframe end 172, yielding a third tilting operation and a second peelingoperation. As cam follower 140 a travels from second cam minimum section138 a ₂ to cam end 182 a, solidification substrate frame 118 tilts backin direction R₄ about frame end 172, yielding a fourth tiltingoperation.

As cam follower 140 a traverses the length of cam 126 a from cam end 182a to second cam minimum 138 a ₂, solidification substrate frame 118tilts in direction R₄ about frame end 170, yielding a fifth tiltingoperation and a third peeling operation. As cam follower 140 a movesfrom second cam minimum 138 a ₂ to mid-point 136 a, solidificationsubstrate frame 118 tilts back in direction R₃ about frame end 170,yielding a sixth tilting operation. The process repeats itself as camfollower 140 a travels from cam mid-point 136 a to cam end 180 a. Thus,when the cam profile of cam 126 a of FIGS. 12 and 18 is used, during oneround trip of cam followers 140 a/140 b along their respective cams 126a/126 b, four peeling operations and eight tilting operations areprovided. Two of the peeling operations and four of the tiltingoperations are performed about a tilt axis at frame end 170, and anothertwo of the peeling operations and another four of the tilting operationsare performed about a tilt axis at the frame end 172. Additional camstructures may be provided to obtain the desired degree and manner oftilting, and the structures depicted herein are merely exemplary.

As indicated previously, in downward building processes such as thosedepicted in FIG. 1A or used with the device of FIGS. 7-17,solidification substrate 79 rests on the top surface of solidifiablematerial 41 (e.g., a photopolymeric resin) to provide a substantiallyplanar surface and improve object building accuracy. As indicatedpreviously, as portions of the upper region of the solidifiable material41 are selectively solidified, the object build platform 46, 74, 104moves away from solidification substrate 79, thus allowing unsolidifiedmaterial to flow into the space between the platform 46, 74, 104 andsubstrate 79. With the device of FIGS. 7-17, the solidificationsubstrate 79 can be immersed below the upper surface of the solidifiablematerial to create a hydrostatic head above the portion of thesolidifiable material 41 that is immediately beneath solidificationsubstrate 79. The level of the solidifiable material 41 is preferablybelow the upper surface of the solidification substrate frame 118 toprevent the solidifiable material 41 from flowing over and on top of thesolidification substrate 79.

Referring to FIG. 19, an alternate embodiment of a solidificationsubstrate assembly 214 is depicted. In certain exemplary embodiments,solidification substrate assembly 214 may be used in three-dimensionalobject manufacturing system 90 place of solidification substrateassembly 114. Thus, in certain embodiments, as depicted in FIG. 10,solidification substrate assembly 214 is hingedly connected to worktable 110, allowing a user to selectively place assembly 214 within worktable opening 101.

Unlike solidification substrate assembly 114, solidification substrateassembly 214 includes both a solidification substrate 279 and a separatefilm 294 (FIGS. 20 a-20 c). Solidification substrate 279 is of the typedescribed previously with respect to solidification substrates 79 a-c.In the example of FIGS. 19-24, solidification substrate 279 comprises arigid or semi-rigid translucent layer of material without an attachedresilient layer or attached protective film 294. In certain embodiments,film 294 is resilient and translucent. Suitable films include the filmsdescribed for translucent protective film layer 82 a, described above.The selected films preferably have sufficient resilience and strengthsuch that they are not damaged when peeled in the manner discussedbelow. Especially preferred materials for film 294 include MFA andTEFLON® films.

In the depicted embodiment, during an object building operation,translucent film 294 is held below the level of solidifiable material 41and is pressed downward by solidification substrate 279. Thesolidification substrate 279 preferably has a degree of rigidity and isdimensioned to cause the exposed surface of solidifiable material 41 toform a substantially planar surface. The maintenance of a substantiallyplanar exposed surface provides for a greater degree of uniformityand/or precision in the solidification process, while in certainembodiments, the use of a separate film 294 provides for greater ease ofseparation of the solidified part than does a process wherein thesolidifiable material is solidified in direct contact withsolidification substrate 279.

Because the solidifiable material 41 solidifies in contact with film294, in certain instances, the film may adhere to recently solidifiedobject sections. The film 294 is preferably separated from the recentlysolidified object section prior to supplying additional solidifiablematerial adjacent to solidifiable film 294. Thus, in accordance withcertain examples, a peeling member 292 is provided with solidificationsubstrate assembly 214 to separate solidified object sections from film294. Peeling member 292 may be provided in a variety of differentshapes, but is preferably an elongated member. In the example of FIGS.19-20 a-c, peeling member 292 is generally an elongated, cylindricalmember that does not rotate about its own longitudinal axis. Followingan exposure of solidifiable material 41 to electromagnetic radiationprovided by pattern generator 108 (not shown in FIGS. 19-23), peelingmember 292 traverses the underside of film 294 between film 294 and theexposed surface of the recently solidified object section to peel thefilm 294 away from the object 44 (not shown in FIGS. 19-23). In apreferred embodiment, the peeling member 292 is configured to provideline peeling, such that at any given time the section of solidifiedmaterial be separated from film 294 defines a generally linear pathacross the width of film 294.

Depending on the material used to construct solidification substrate279, the traversal of peeling member 292 across the surface of film 294could damage substrate 279 if the film remains in contact with substrate279. Thus, in certain examples, the solidification substrate 279 isseparated from all or part of film 294 during a film peeling operationsuch that no force is applied from peeling member 292 to solidificationsubstrate 279. A variety of different mechanisms may be used to achievethe separation. In the example of FIGS. 19-24, solidification substrate279 is displaced away from peeling member 292 during a peeling operationby providing a tilting mechanism that tilts solidification substrate 279about axes 217 and 219 (FIG. 20 a) at spaced apart ends ofsolidification substrate assembly 214. Axes 217 and 219 are oriented ina direction that is generally perpendicular to length of film 294 andthe direction of travel of peeling member 292.

An exemplary peeling operation is schematically depicted in FIGS. 21-24.In FIG. 21, an exposure has just been performed to solidify an exposedsurface of solidifiable material 41 and form the uppermost surface ofobject 44 in contact with film 294. Peeling member 292 begins its travelproximate one end of the length of film 294 and moves toward the otherend of film 295. In FIG. 22, peeling member 292 has begun to separatefilm 294 from the upper surface of object 44, while at the same time,solidification substrate 279 is tilted in a first direction (clockwise)about axis 217. In a preferred embodiment, the application of any forceby peeling member 292 against the bottom side of solidificationsubstrate 279 is eliminated or minimized, which beneficially preventscracking, warping, bending or other forms of distortion or damage tosolidification substrate 279. As depicted in FIGS. 21-24, the peelingmember performs a line peeling operation in which the portion ofsolidified material being peeled from film 294 defines a generallylinear shape (when observed from a top plan view) across the width ofpart 44 and film 294. As the figures indicate, as peeling member 292moves along the length of film 294, the previously peeled sectionstrailing behind peeling member 292 fall into contact with, butpreferably do not adhere to, the exposed surface of object 44. Inaddition, the unpeeled sections in front of peeling member 292 remainunpeeled until the peeling member arrives during a peeling operation.Thus, the peeling operation is localized at any given time incorrespondence to the position of peeling member 292 along the length offilm 294 and object 44.

As shown in FIG. 23, as peeling member 292 continues to travel along thelength of film 294, solidification substrate 279 eventually tilts in asecond direction (counterclockwise) about axis 219 until peeling member292 reaches its end of travel position shown in FIG. 24. Thus, aspeeling member 292 traverses the length of film 294 once, solidificationsubstrate 279 undergoes two tilting operations.

As indicated in FIGS. 21-24, in certain exemplary implementations, a camand cam follower structure is provided to separate the bottom ofsolidification substrate 279 from peeling member 292 as peeling member292 traverses the length of film 294. One specific illustration of sucha cam and cam follower structure is depicted in detail in FIGS. 19 and20 a-c. Referring now to these figures, solidification substrateassembly 214 includes at least one cam, which in the embodiment of FIGS.19 and 20 a-c comprises cams 226 a and 226 b (not shown). Cams 226 a and226 b are preferably spaced apart from one another along the widthdimension of film 294 and are generally parallel to one another. Cams226 a and 226 b are preferably operatively connected to solidificationsubstrate 279 such that movement of the cams 226 a, 226 b causes acorresponding movement of solidification substrate 279.

Solidification substrate assembly 214 also includes at least one camfollower, which in the embodiment of FIGS. 19 and 20 a-c comprises camfollowers 240 a and 240 b (not shown). Cam followers 240 a and 240 b areeach preferably dimensioned to engage a corresponding downward facingcam follower engagement surface formed on their respective cams 226 aand 226 b. In the embodiment of FIGS. 19 and 20 a-c, cam followers 240 aand 240 b are generally solid cylindrical members configured to rotateabout their respective longitudinal axes. As cam followers 240 a and 240b abuttingly engage and traverse the lengths of their corresponding cams226 a and 226 b, the cams are pulled upward and away from film 294,causing the solidification substrate 279 to be pulled upward therewith.

As best seen in FIGS. 21-24, in certain examples, cams 226 a and 226 bare biased in a downward direction (toward film 294) at their oppositeends. In one example, springs 305, 307 are provided to facilitatedownward biasing. As the cam follower exerts an upward (away from film294) force, a net moment is created along cams 226 a and 226 b. Themoment varies as peeling member 292 traverses the length of film 294 toproduce a variable tilting action of the type depicted in FIGS. 21-24.

In certain embodiments, the vertical distance between the cam followers240 a and 240 b and part 44 remains fixed as cam followers 240 a and 240b traverse the lengths of their corresponding cams 226 a and 226 b, thusallowing the cams 226 a and 226 b to move toward their respective camfollowers 240 a and 240 b and away from film 294 during a film peelingoperation. To facilitate this mode of operation, a structure may beprovided to fix the vertical position of cam followers 240 a and 240 bwith respect to resin container 100 (see FIG. 8). In the embodiment ofFIGS. 19 and 20 a-c, a load frame 216 is provided. Cam followers 240 aand 240 b are connected to load frame 216 and are moveable in adirection along its length (L). Load frame 216 is selectively engageablewith a load frame latch 212 which is attached to work table 110,allowing a user to selectively lock load frame 212 into place withinopening 101 of work table 110.

A tiltable frame 218 is also provided and is operatively connected toload frame 216 so as to be tiltable with respect to load frame 216.Tiltable frame 218 comprises cams 226 a and 226 b. The ends of tiltableframe 218 are biased away from the corresponding ends of load frame 216to provide the variable moment described above as cam followers 240 aand 240 b traverse corresponding cams 226 a and 226 b. In one example,one or more compression springs 305, 307 (schematically shown in FIGS.21-24) are disposed between the corresponding ends of load frame 216 andtiltable frame 218 to provide this biasing function. Although notvisible in the figures, stops may be provided to limit the downwardtravel of tiltable frame 218 with respect to load frame 216. In oneexample, elongated members, such as screws, extend from the tiltableframe to engage an upward facing surface of the load frame and therebyact as stops.

In certain applications, it is critical to prevent the defocusing of theelectromagnetic radiation image generated by pattern generator 108 priorto the exposure of solidifiable material 41 to the image. Defocusing ofthe image can cause distortions or inaccuracies in the object 44 beingbuilt relative to the object model on which it is based. In suchapplications, the structures through which electromagnetic radiationpasses en route from pattern generator 108 to the exposed surface ofsolidifiable material 41 are preferably substantially planar andparallel to one another and to the image projected by pattern generator108. In certain embodiments, film 294 is substantially parallel tosolidification substrate 279, and both film 294 and solidificationsubstrate 279 are substantially parallel to the build platform 104. Inother embodiments, pattern generator 108 directs an electromagneticradiation image corresponding to a portion of object 44 in a firstdirection, and the solidification substrate 279 and film 294 are bothsubstantially planar to one another and perpendicular to the firstdirection. In some embodiments, the level of solidifiable material 41 ismaintained above the level of film 294 or above the level ofsolidification substrate 279 to provide a hydrostatic pressure head thatassists in maintaining a parallel orientation between film 294 andsolidification substrate 279. In the example of FIGS. 19-20 c, filmguides 296 and 298 (FIGS. 20 b, 20 c) also assist in maintaining asubstantially flat film 294, thereby reducing the amount of defocusingthat would otherwise occur. To further ensure the flatness of film 294,the ends of the film are secured by connectors 300 (FIGS. 20 b, 20 c) ata vertical position above the solidification substrate 279. Registrationmembers such as registration members 134 a and 134 b (FIG. 13) may beprovided at selected locations around the perimeter of tiltable frame218 to alter the engagement of tiltable frame 218 with work table 110such that solidification substrate 279 and film 294 are substantiallyparallel to build platform 104 and perpendicular to the direction inwhich pattern generator 108 projects an image to the exposed surface ofsolidifiable material 41.

As best seen in FIGS. 20 a and 20 c, in certain embodiments, camfollowers 240 a and 240 b are attached to corresponding support brackets254 a and 254 b. Each support bracket 254 a and 254 b is in turnconnected to a corresponding timing belt connector 263 a and 263 b (FIG.20 a) and to a linear bearing 252 a and 252 b. Linear bearings 252 a and252 b are configured to slidably engage rails 256 a and 256 b whichcomprise part of load frame 216. As linear bearings 252 a and 252 bslidably engage their corresponding rails 256 a and 256 b, cam followers240 a and 240 b engage their corresponding cams 226 a and 226 b to tiltthe tiltable frame 218 and cams 226 a/226 b with respect to load frame216 and film 294.

A number of different drive mechanisms may be used to move the camfollowers 240 a and 240 b, including screw/thread drives and beltdrives. In the embodiment of FIGS. 19-20 a-c, belt drives are used whichcomprise timing belts 242 a and 242 b. In certain implementations, beltdrives beneficially absorb vibrations from a motor, thereby minimizingor preventing the transmission of such vibrations to the solidifiablematerial, which can tend to disrupt the uniformity of the objects beingbuilt.

Timing belts 242 a and 242 b are connected to idler pulleys 222 a and222 b at one end of load frame 216 and to motor drive shaft 264 at theopposite end of load frame 216. As drive shaft 264 is rotated about itslongitudinal axis, timing belts 242 a and 242 b move along the length ofload frame 215, thereby moving the cam followers 240 a and 240 b,causing them to traverse the lengths of their cams 226 a and 226 b andtilt tiltable frame 218 in the manner described previously.

In certain embodiments, peeling member 292 is operatively connected tocam followers 240 a and 240 b such that when cam followers 240 a and 240b traverse the lengths of their respective cams 226 a and 226 b, thepeeling member traverses the length of film 294 and peels it fromsolidified object 44. In one example, as best seen in FIG. 20 a, camfollower support brackets 254 a and 254 b are connected to opposite endsof peeling member 292. In the depicted configuration, peeling member 292is positioned underneath load frame rails 256 a and 256 b and underneathcams 226 a and 226 b. During a peeling operation, as peeling member 292peels film 294 from object 44 at a given location along the object'slength, cam followers 240 a and 240 b concurrently pull cams 226 a and226 b upward and way from peeling member 292, thereby preventing peelingmember 292 from applying any appreciable force against solidificationsubstrate 279.

The profile of cams 226 a and 226 b may comprise a number of differentshapes or geometries. In the embodiment of FIGS. 19-24, cams 226 a and226 b have a generally linear middle section flanked on either end bysections 280 a/280 b and 282 a/282 b (FIGS. 20 a, 20 b) that slopeupwardly and away from film 294. In the illustrated exemplaryconfiguration, the respective surfaces of cam end sections 280 a/280 band 282 a/282 b which face film 294 are concave when viewed from thefilm 294. As cam followers 240 a and 240 b begin their travel along cams226 a and 226 b, tiltable frame 218 tilts about which ever axis 217, 219(FIG. 20 a) is opposite the starting location of the cam followers 240 aand 240 b. The degree of tilting diminishes as the cam followers 240 aand 240 b approach the lengthwise mid-points of their respective cams226 a and 226 b. As the cam followers 240 a and 240 b pass the cammid-points, tiltable frame 218 and its cams 226 and 226 b begin tiltingin the opposite direction about the axis proximate the starting point ofcam followers 240 a and 240 b.

In one exemplary embodiment, as depicted in FIGS. 20 a and 20 b, loadframe 216 includes vertically-oriented guides that limit the movement ofthe tiltable frame 218 in the x-y plane (or the length-wide plane, L×W).A plurality of vertically-oriented guides 310 a, 310 b, 312 a, and 312 bare provided and are spaced apart from one another around the perimeterof load frame 216 (Guides 310 a and 310 b are visible in FIG. 20 a, andguides 310 b and 312 b are visible in FIG. 20 b). Guides 310 a and 310 bare spaced apart from one another across the width (W) direction of film294 and load frame 216 as are guides 312 a and 312 b. Guides 310 a and312 a are spaced apart from one another across the length direction (L)of film 294 and load frame 216 as are guides 310 b and 312 b. Each ofthe four guides engages a corresponding roller (318 a, 318 b, 320 a, and320 b) that is rotatably mounted on tiltable frame 218 (rollers 318 aand 318 b are visible in FIG. 20 a, and rollers 318 b and 320 b arevisible in FIG. 20 b). The engagement of vertically-oriented load frameguides 310 a, 310 b, 312 a, and 312 b with their corresponding tiltableframe rollers 318 a, 318 b, 320 a, and 320 b allows the tiltable frame218 to move vertically with respect to load frame 216 whilesimultaneously preventing horizontal movement of tiltable frame 218 withrespect to load frame 216.

In certain examples, film 294 is preferably maintained in asubstantially planar configuration. To facilitate such a configuration,solidification substrate assembly 214 may be provided with film guides296 and 298, which comprise elongated members that are spaced apart fromone another along the lengthwise direction (L) of film 294 and whicheach extend along the width-wise direction (W) of film 294.

Tiltable frame 218 may comprise a rigid or semi-rigid translucent layerretaining section 225 a (FIG. 20 a) and 225 b (FIG. 20 b) formedproximate cams 226 a and 226 b. The retaining sections 225 a and 225 binclude corresponding upward facing surfaces 229 a and 229 b which arein facing opposition to downward facing surfaces 227 a (FIG. 20 a) and227 b (FIG. 20 b) that define the underside profile of cams 226 a and226 b. During a film peeling operation, cam followers 240 a and 240 bride between their corresponding upward and downward facing surfaces 227a/229 a and 227 b/229 b. Retaining sections 225 a and 225 b may includegrooves, clips, recesses, or other known structures for retaining rigidor semi-rigid translucent layer 279.

A method of using an apparatus for manufacturing a three-dimensionalobject using the solidification substrate assembly 214 in place ofsolidification substrate assembly 114 in apparatus 90 (FIG. 8) will nowbe described. In accordance with the method, apparatus 90 is providedand includes a work table 110 with solidification substrate assembly 214connected to it as depicted in FIG. 19. Container 100 is filled with asolidifiable material, such as a photocurable polymeric resin with asuitable photoinitiator. Solidification substrate assembly 214 islatched to work table 110 via latch 212. Build platform 104 (FIG. 8) iselevated proximate film 294. Rigid or semi-rigid translucent layer 279is maintained below the level of solidifiable material 41 in container100 to maintain a hydrostatic head sufficient to cause solidifiablematerial 41 to flow in the space between build platform 104 and film294. Once the material 41 has flowed into the space, rigid or semi-rigidtranslucent layer 279 maintains a substantially planar exposed surfaceof solidifiable material 41 immediately beneath and in contact with film294. Pattern generator 108 then applies electromagnetic energy throughrigid or semi-rigid translucent layer and film 294 in accordance with amodel of the three-dimensional object that is to be built in the mannerdescribed previously. The application of electromagnetic energysolidifies all or a portion of the exposed surface of solidifiablematerial 41 to one or more depths that may vary with the location on theexposed surface. As a result, certain sections of solidified materialare created and may adhere to film 294.

The solidification substrate assembly 214 of FIGS. 19 and 20 a-c isillustrated in a simplified schematic form in FIGS. 21-24 to showtilting and peeling operations. As shown in FIG. 21, following anexposure of solidifiable material 41 to solidification energy, camfollowers 240 a and 240 b begin to traverse their respective cams 226 aand 226 b, causing the peeling member 292 to travel with the camfollowers along the length of cams 226 a and 226 b. As describedpreviously, as the cam followers 240 a and 240 b traverse the camlengths one time, tiltable frame 218 tilts in a first direction withrespect to axis 217, as well as with respect to the exposed surface ofobject 44 and a plane parallel to the plane intersecting axes 217 and219. Once the cam followers 240 a and 240 b reach a location at orproximate to the mid-point of their respective cams 226 a and 226 b, thetiltable frame 218 and cams 226 a and 226 b tilt in the oppositedirection about the opposite axis 219, as well as with respect to theexposed surface of object 44 and a plane parallel to the planeintersecting axes 217 and 219. In this manner, film 294 is peeled frompart 44 without peeling member 292 applying an appreciable force (or anyforce) to rigid or semi-rigid translucent panel 279.

Once cam followers 240 a and 240 b reach the end of one length of travel(i.e., the position of FIG. 24), additional solidifiable material 41 issupplied between the upper surface of object 44 and film 294 (e.g., bylowering build platform 104), and the newly created exposed surface ofsolidifiable material 41 is exposed to electromagnetic radiation frompattern generator 108. The peeling and tilting operation described aboveis then repeated, this time with peeling member 292 moving in theopposite direction along the length of film 294. The process of exposingand peeling is repeated until the object build process is complete.

The film peeling techniques described herein are also suitable for usewith film transfer imaging rapid prototyping methods. The systemdepicted in FIG. 25 utilizes a film transfer imaging technique. Inaccordance with such methods, a movable film 394 is circulated viaroller 364 to receive solidifiable material 41. Once the solidifiablematerial 41 is applied to movable film 394, the coated film 394 iscirculated to an applicator 365 for removing excess material 41 and intoan exposure zone 343 to receive electromagnetic radiation from patterngenerator 108. Pattern generator 108 solidifies at least a portion ofthe exposed surface of material 41 to one or more depths across thesurface in correspondence with a model of the object 44 being built. Aswith the methods previously described herein, the material 41 solidifiesin contact with the movable film 394 during an exposure and must beseparated from the film 394 before fresh solidifiable material 41 can besupplied to the film 394 and recirculated to the pattern generator 108.In the exposure zone 393, the film 394 is disposed on a solidificationsubstrate 379 of the type described previously (e.g., a rigid orsemi-rigid translucent layer) to provide a substantially parallelexposed surface of solidifiable material 41. In a preferred embodiment,a peeling member 392 is provided which peels the object 44 from the film394 without applying an appreciable force or any force to thesolidification substrate 379. In FIG. 25, peeling member 392 is shownfrom a side elevational view. In accordance with the embodiment, thebuild platform 304 is pulled away from solidification substrate 379 by avertical distance, z, that is greater than the largest verticaldimension (d) of peeling member 392, thereby ensuring that the peelingmember 392 can travel between object 44 and solidification substrate379.

Peeling member 392 is preferably maintained at a vertical height that isslightly above solidification substrate 379 to avoid applying any forceto it. Thus, in an example wherein the peeling member 392 is generallycylindrical, build platform 304 is pulled away from solidificationsubstrate 379 by a distance, z, that exceeds the diameter of peelingmember 392. A suitable drive mechanism is provided which then moves thepeeling member 392 along the length of the film 394 between film 394 andobject 44, thereby separating the film 394 and object 44 in a linepeeling operation of the type described previously. Once the peelingoperation is complete, the build platform 304 is moved verticallydownward such that the exposed surface of object 44 is separated fromfilm 394 by a distance equal to the thickness of solidifiable material41 to be applied to film 394, and the exposure/peeling process isrepeated.

Referring to FIG. 26, an alternate embodiment of a solidificationsubstrate assembly 414 is depicted. Unlike solidification substrateassembly 214, assembly 414 does not include frames that are tiltablewith respect to one another. In preferred embodiments, solidificationsubstrate assembly 414 is used in a system for making athree-dimensional object, such as system 90, discussed previously. Thecomponents of solidification substrate assembly 414 which aresubstantially similar to those of solidification substrate assembly 214are identified with reference numerals that begin with a “4” and whichend in the same two digits as their respective counterparts in assembly214. Solidification substrate assembly 414 comprises a load frame 416that is connected to a multi-layer assembly 421 (FIGS. 29A-B and 30A-B).Multi-layer assembly 421 comprises a rigid or semi-rigid solidificationsubstrate assembly 501 which is connected to a film assembly 505 (FIGS.29A-B and 30A-B).

Rigid or semi-rigid solidification substrate assembly 501 includes arigid or semi-rigid solidification substrate 479, such as a hard plasticor glass of the type described previously with respect to rigid orsemi-rigid solidification substrate 279, and a rigid or semi-rigidsolidification substrate frame 423. As best seen in FIGS. 29A-B and30A-B, rigid or semi-rigid solidification substrate frame 423 is agenerally rigid and rectangular structure with a first side 426 a spacedapart from a second side 426 b along the width of frame 423. Side 426 aincludes elevated end portions 480 a and 482 a at opposite ends of thelength of side 426 a. Similarly, side 426 b includes elevated endportions 480 b and 482 b at opposite ends of the length of side 426 b.Rigid or semi-rigid solidification substrate 479 is connected to theunderside of rigid or semi-rigid solidification substrate frame 423 asbest seen in FIGS. 28, 29A-B and 30A-B.

Multilayer assembly 421 also includes a film assembly 505 whichcomprises an object contacting film assembly 510 (not separately shown),and a loose film 516. Object contacting film assembly 510 comprises anobject contacting film 494 and a film frame assembly 514 (not separatelyshown). Film frame assembly 514 comprises an outer frame 512, and aninner frame 518. Film assembly 505 has first and second sides 508 a and508 b which are spaced apart along the width of film assembly 505 (FIG.26) and first and second ends 504 and 506 which are spaced apart alongthe length of film assembly 505. When installed in a three-dimensionalobject manufacturing system such as system 90, film assembly 505 ispositioned between build platform 104 and rigid or semi-rigidsolidification substrate assembly 501.

Object contacting film 494 is preferably of the same material as film294, described above. As best seen in FIG. 31, in one example, objectcontacting film 494 is secured to film frame assembly 514 and isdisposed between inner and outer frames 512 and 518. In a more preferredembodiment, object contacting film 494 has an unstretched conditionprior to attachment to film frame assembly 514 and a stretched conditionwhen object contacting film 494 is attached to film frame assembly 514.Thus, in certain preferred embodiments, object contacting film 494 andfilm frame assembly 514 define a pre-stretched film assembly.

During an object building process, solidifiable material will solidifyin contact with object contacting film 494. As build platform 104descends into container 100 and solidifiable material 41, object 44 willtend to pull and stretch object contacting film 494. Because of therepeated stress exerted on object contacting film 494, it iscontemplated that object contacting film assembly 510 will be areplaceable component of solidification substrate assembly 414 and ofmulti-layer assembly 421.

During certain object building operations, especially those involvingobjects with larger surface areas (e.g., objects with portionscomprising substantially flat solid surfaces that are greater than about1 square inch in area), a vacuum can form between film 494 and rigid orsemi-rigid solidification substrate 479, making it difficult to separateobject 44 from object contacting film 494. Thus, in certain embodimentsa vacuum breaking system is provided. In the embodiment of FIGS. 29A-Band 30A-B, the vacuum breaking system comprises a loose film 516. Asbest seen in FIG. 31, loose film 516 preferably lay on object contactingfilm 494 and is sandwiched between object contacting film 494 and rigidor semi-rigid solidification substrate 479 without being fixedly securedto either outer frame 512 or inner frame 518. To facilitate thisconfiguration, loose film 516 preferably has a surface area that is lessthan the open area of inner frame 518. In certain examples, loose film516 is a transparent and/or translucent film of the same type used forobject contacting film 494.

To facilitate vacuum breaking, in a preferred embodiment, loose film 516is provided with a relieved area 528 on the surface of loose film 516which faces away from object contacting film 494 and toward rigid orsemi-rigid solidification substrate 479. The relieved area is preferablyone or more sections of loose film 516 of reduced thickness. In onepreferred embodiment, relieved area 528 comprises a plurality of groovesthat are spaced apart along the width of loose film 516. Shapes otherthan grooves may be used, such as circles, squares, rectangles, andirregular shapes. Where grooves are used, they may extend along thelength and/or width of loose film 516 and may be spaced apart at regularor irregular intervals. Relieved area 528 preferably does not createthrough-openings in loose film 516. As will be explained further below,relieved area 528 preferably provides a leak path for allowingatmospheric air to enter between loose film 516 and rigid or semi-rigidsolidification substrate 479, which reduces the likelihood of vacuumformation.

In one exemplary embodiment, relieved area 528 comprises a plurality ofspaced apart relieved sections such as grooves extending along thelength of loose film 516 and spaced apart from one another bysubstantially equal spacings. The thickness of loose film 516 in thegrooves is preferably from about 25 percent to about 75 percent, morepreferably from about 40 percent to about 60 percent, and even morepreferably from about 45 percent to about 55 percent of the thickness ofloose film 516 in areas away from the grooves. In certain examples, thethickness of loose film 516 away from relieved area 528 ranges fromabout 20 microns to about 1,000 microns, preferably from about 50microns to about 500 microns, and more preferably from about 120 micronsto about 125 microns. In one illustrative example, loose film 516 has athickness of from about 120 microns to about 125 microns, and relievedarea 528 comprises a plurality of grooves, each of which has a width offrom about 40 to about 45 microns and a depth of from about 40 to about45 microns (as measured from the upper surface of loose film 516 facingrigid or semi-rigid solidification substrate 479).

It is especially preferred to configure relieved area 528 to minimize oreliminate distortion of the image projected by pattern generator 108 asthe image is transmitted through loose film 516. In certain examples,relieved area 528 comprises grooves having a width less than the widthof a pixel projected by pattern generator 108. The groove width ispreferably less than about 80 percent, more preferably less than about60 percent, and even more preferably less than about 40 percent of thewidth of pixels projected by pattern generator 108. A variety of knownprocesses may be used to create relieved area 528 in loose film 516. Inone example, a plurality of grooves is laser etched into the surface offilm 516 facing away from object contacting film 494. In anotherexample, groove widths are provided which are preferably not more thanabout 150 microns, even more preferably not more than about 100 microns,and still more preferably not more than about 80 microns. In anespecially preferred embodiment, groove widths of not more than about 50microns are provided.

Instead of using a loose film 516, object contacting film 494 may beprovided with a relieved area similar to loose film relieved area 528.In addition, instead of providing a relieved area in object contactingfilm 494 or loose film 516, a relieved area may be provided in thesurface of rigid or semi-rigid solidification substrate 479 that facestoward object contacting film 494, and loose film 516 may be omitted.Regardless of how it is provided, a leak path is preferably providedfrom the atmosphere to the relieved area to minimize the likelihood ofvacuum formation, especially if larger object builds are contemplated.One such exemplary leak path 534 is depicted in FIG. 31 and will bediscussed in greater detail below.

As best seen in FIGS. 29A-B and 30A-B, in one example, outer frame 512is a generally rigid and rectangular structure shaped to cooperativelyengage inner frame 518. Inner frame 518 is a generally rigid andrectangular structure which includes an upper lip 526 that projectsoutwardly around the perimeter of inner frame 518. Outer frame 512 fitsunderneath upper lip 526. In certain examples, the outer edge of lip 526and the outer perimeter of outer frame 512 are substantially flush withone another and define a substantially continuous surface.

Referring to FIG. 31, outer frame 512 and inner frame 518 are preferablysecured to minimize the likelihood of resin leakage through inter-framegap G₂ and the area between lip 526 of inner frame 518 and the uppermost surface of outer frame 512. The likelihood of such leakageoccurring is particularly acute when build platform 104 is moved towardobject contacting film 494 during an object building operation due tothe increased pressure applied by solidification material 41 againstfilm assembly 505. Numerous methods of minimizing or eliminating suchleakage may be provided. In one example, as shown in FIG. 31, objectcontacting film 494 is stretched between inner and outer frames 518 and512, so that a portion of object contacting film 494 is located in gapG₂, and so that a peripheral portion 536 of object contacting film 494is sandwiched between inner frame lip 526 and the upper most surface ofouter frame 512. In addition, through-holes 515 (FIG. 29A) formed on theupper surface of upper lip 526 are alignable with complementary holes513 (FIG. 29A) formed on the upper surface of outer frame 512, allowingfasteners such as screws, bolts, etc. to secure object contacting filmframe 512 to inner frame 518. Thus, in certain examples, the fastenersare selected to minimize the amount of leakage in the area between innerframe lip 526 and the upper most surface of outer frame 512. In otherexamples, portions of gap G₂ may be filled with a suitable resinblocking agent such as a cured resin. Suitable cured resins includesilicones and epoxies.

Together, object contacting film 494, outer frame 512, and inner frame518 define an object contacting film assembly 510 (not separately shown)that is securable to rigid or semi-rigid solidification substrate frame423, with loose film 516 optionally being placed between objectcontacting film 494 and rigid or semi-rigid solidification substrate479. As mentioned above, rigid or semi-rigid solidification substrateassembly 501 and film assembly 505 define a multi-layer assembly 421. Asalso mentioned earlier, in certain embodiments, it is contemplated thatobject contacting film assembly 510 will be replaced periodically due tothe stress on object contacting film 494. Thus, film frame assembly 514is preferably releasably secured to rigid or semi-rigid solidificationsubstrate frame 423 to facilitate replacement of object contacting filmassembly 510.

In certain preferred embodiments, relieved area 528 of loose film 516lies beneath rigid or semi-rigid solidification substrate 479 while alsoextending beyond the perimeter of rigid or semi-rigid solidificationsubstrate 479 to provide a leak path to the atmosphere. Film assembly505 has a length defined by parallel sides 508 a and 508 b (FIG. 26)which is longer than the length of rigid or semi-rigid solidificationsubstrate 479. As shown in FIG. 31, the variation in lengths creates agap G₁ between the edge of rigid or semi-rigid solidification substrate479 and the inner surface of inner frame 518. Loose film 516 and aportion of relieved area 528 extend into the gap G₁ creating a leak path534 from the atmosphere to the portion of the relieved area 528 lyingunderneath and in facing opposition to rigid or semi-rigidsolidification substrate 479, thereby minimizing the likelihood ofvacuum formation between loose film 516 and rigid or semi-rigidsolidification substrate 479. In the embodiment of FIG. 31, gap G₁creates a leak path from the atmosphere to loose film relieved area 528that is generally in the z-direction (i.e., substantially parallel tothe direction of movement of build platform 104 and to the surface areaof object contacting film 494). However, other leak path orientationsare possible, such as one that is generally in the x-y plane.

In the embodiment of FIGS. 29A-B and 30A-B, rigid or semi-rigidsolidification substrate 494 is secured to the underside of frame 423 bymechanical connection, or in one example, adhesive bonding. Rigid orsemi-rigid solidification substrate frame 423 may be connected to filmassembly 505 by a variety of known structures and connectors. In oneexample, the upper surface of inner frame 518 is integrally formed withbrackets 520 a-b and 522 a-b (bracket 520 b is not shown) which arealignable with rigid or semi-rigid solidification substrate framethrough holes 530 a-b and 532 a-b to allow screws, bolts, etc. toconnect rigid or semi-rigid solidification substrate frame 423 and filmassembly 505 together, thereby forming multi-layer assembly 421. In theexemplary embodiment of FIG. 31, the upward facing surface of rigid orsemi-rigid solidification substrate 479 is beneath the upward facingsurface 550 of film assembly 505, and the downward facing surface ofrigid or semi-rigid solidification substrate 479 is slightly above thedownward facing surfaces 548, 546, respectively, of inner and outerframes 512 and 518.

In contrast to the previous embodiments of a solidification substrateassembly, multi-layer assembly 421 remains substantially stationary anddoes not tilt with respect to load frame 416 during an object buildprocess. As best seen in FIGS. 26 and 27A-C, solidification substrateassembly 414 includes a peeling member 492, which is preferably similaror identical to peeling member 292 described previously. During a filmpeeling operation, peeling member 492 traverses the length of objectcontacting film 494 to peel film 494 from object 44. An exemplarypeeling operation is depicted in FIGS. 27A-C. In certain examples,following an exposure of solidifiable material 41 to solidificationenergy, object 44 will solidify in contact with film 494. As buildplatform 104 and object 44 move away from solidification substrateassembly 414, a portion of object contacting film 494 will pull awayfrom film assembly 505 and away from rigid or semi-rigid solidificationsubstrate frame 423. To release object 44 from object contacting film494, film peeling member 492 will traverse the length of film 494between object 44 and object contacting film 494 to engage film 494 andseparate it from object 44.

Film peeling member 492 starts its peeling motion from an initialposition shown in FIG. 27A. As depicted in the figures, in certainpreferred examples, the starting position of film peeling member 492 isoutboard of film assembly 505 proximate a first end of film frameassembly 505. In FIGS. 27B-C, film peeling member 492 is depicted insecond and third positions, respectively, as it continues to peel film494 from object 44. At the conclusion of peeling, film peeling member492 will arrive at a rest position outboard of film assembly 505proximate the end opposite its initial starting position. The restposition will then serve as a starting position for a subsequent peelingoperation. Other peeling operations may be used as well. In certainembodiments, it may be advantageous to perform two peeling passes eachtime peeling is required so that the start position of peeling member492 remains the same throughout the build process.

To facilitate an effective peeling process, peeling member 492 ispreferably fixed at a vertical location that creates a minimum tolerancebetween film peeling member 492 and the underside of film assembly 505(i.e., the undersides 546 and 548 of film frames 512 and 518 as shown inFIG. 31) to avoid having the film assembly 505 impede the movement ofpeeling member 492. In addition, film peeling member 492 is preferablyconfigured to exert no appreciable force against rigid or semi-rigidsolidification substrate 479 to avoid cracking or other damage tosubstrate 479. Thus, the vertical location of peeling member 492 alsopreferably creates another minimum tolerance between peeling member 492and rigid or semi-rigid solidification substrate 479.

The components used to move peeling member 492 during a peelingoperation are similar to those described with respect to the movement ofpeeling member 292 in the embodiment of FIGS. 20 a-c. However, the camfollowers 240 a and 240 b are not used. Linear bearings 452 a and 452 b(FIGS. 26, 27A-C, 28) are connected to timing belts 442 a and 442 b andto a corresponding end of peeling member 492. Linear bearings 452 a and452 b slidably engage linear rails 456 a and 456 b which are connectedto load frame 416. Linear rails 456 a and 456 b extend along thedirection of the lengths of films 494 and 516 and are spaced apart fromthe films in a direction perpendicular to films' upper surfaces.

Timing belts 442 a and 442 b are connected to idler pulleys 422 a and422 b (not shown) at one end of load frame 416 and to motor drive shaft464 at the opposite end of load frame 416. As drive shaft 464 is rotatedabout its longitudinal axis, timing belts 442 a and 442 b move along thelength of load frame 416, thereby moving the linear bearings 452 a and452 b. Linear bearings 452 a and 452 b to traverse linear rails 456 aand 456 b along the direction of the lengths of the rails 456 a and 456b and along the direction of the lengths of corresponding sides 426 aand 426 b of rigid or semi-rigid solidification substrate frame 423,thereby moving peeling member 492 in the manner described previously.Thus, the embodiment of FIGS. 26-31 advantageously provides a mechanismfor separating object contacting film 494 from object 44 while keepingsolidification substrate assembly 414 substantially stationary withrespect to load frame 416 and reducing the likelihood of damage toobject 44 due to excessive movement or vibration.

Referring to FIG. 33, a method of using solidification substrateassembly 414 to perform an object building process will now bedescribed. In accordance with the method, assembly 414 is provided inplace of solidification substrate assembly 114 three-dimensional objectmanufacturing system 90 (FIG. 7). Thus, build platform 104 is providedand moves downward into a solidifiable material container 100 during thebuild process. In step 1002, build platform 104 is lowered below filmassembly 505 and into solidifiable material 41 to define a firstdistance d₁ between film assembly 505 and build platform 104. If anobject building process is underway, a partially formed object 44 willbe present on the build platform and may have solidified in contact withobject contacting film 494 following the previous application ofsolidification energy by pattern generator 108. To prevent objectcontacting film 494 from adhering to partially formed object 44, peelingmember 492 is activated in step 1003. In step 1004, a selected amount oftime will elapse with the build platform 104 at the first distance d₁from film assembly 505, thereby allowing solidifiable material 41 toflow over build platform 104. In step 1006, platform 104 will bere-positioned to define a second, smaller distance d₂ between the buildplatform 104 and film assembly 505. In step 1008, solidifiable materialwill be squeezed out of the space between the upper surface of thepartially formed object 44 and the film assembly 505 as well as betweenthe build platform 104 and the film assembly 505. In certain examples,distance d₂ will correspond to a maximum curing depth and/or maximumvoxel depth for which the pattern generator 108 is configured. In otherexamples, between steps 1004 and 1006, build platform 104 will bepositioned at its previous position prior to the previous exposure ofsolidifiable material (e.g., by raising build platform 104 by thedistance d₁) in order to facilitate squeezing excess resin and/orbubbles out from the space between object 44 and object contacting film494. The build platform 104 will then be lowered to the distance d₂ asprovided in step 1006.

After the build platform 104 is at the second distance d₂ from filmassembly 505 and the volume of solidifiable material between object 44and film assembly 505 has stabilized, in step 1010 pattern generator 108will supply solidification energy to the exposed surface of thesolidifiable material 41 in accordance with the object 44 being built.The solidification energy will cause the resin to solidify in contactwith object contacting film 494, as described above. If the buildprocess is complete, the method terminates (step 1012). Otherwise, theprocess returns to step 1002 to repeat. To facilitate the “squeezing” ofsolidifiable material 41 from the space between object 44 and objectcontacting film 494, build platform 104 may be provided with a pluralityof perforations, which provide a flow path in the z-axis direction forsolidifiable material 41 displaced from the space between object 44 andobject contacting film 494 and solidifiable material 41 that isdisplaced from the space between build platform 104 and objectcontacting film 494.

As indicated by the foregoing, during an object build process, forcesare exerted on solidification substrate assembly 414 and objectcontacting film 494 by both the object 44 and solidifiable material 41.In certain embodiments, it may be advantageous to measure these forces,either for monitoring purposes and/or for control purposes. Thus, incertain embodiments, a sensor is provided which provides sensedinformation indicative of a force applied to object contacting film 494,such as a force sensor operatively connected to the solidificationsubstrate assembly 414. One such embodiment is depicted in FIGS.32A-32B. In accordance with the embodiment, a sensor 540 is provided andis configured to sense a force applied to solidification substrateassembly 414. In certain examples, sensor 540 is configured to senseforces in multiple directions, such as in the positive and negativez-axis directions, i.e., along the axis defined by the direction ofmovement of build platform 104.

In the embodiment of FIGS. 32A-B, sensor 540 is a thin film sensor (notvisible in the figures) provided on a lower surface of a protectivesupport 538, such as at thin metal strip, which acts as a protectivecover and/or a force transmission member for supporting and transmittinga force from solidification substrate assembly 414 to sensor 540.Protective support 538 is configured to abuttingly engage solidificationsubstrate assembly 414 while preventing or reducing the likelihood ofdamage to thin film sensor 540. Protective support 538 is attached atboth ends to work table 110 and engages a load frame lip 413 proximateone end. Load frame lip 413 is configured overlap a complementary lip415 formed on work table 410. Work table lip 415 thus supportssolidification substrate assembly 414 when the assembly 414 is in aclosed position within work table 110.

Flexible sensor 540 is sandwiched between protective support 538 andwork table 110. Load frame latch 412 is releasably securable to an uppersurface of load frame lip 413 and applies a downward force in the z-axisdirection against lip 413 and protective support 538.

During a build process, sensor 540 will sense the amount of forceapplied to solidification substrate assembly 414, which in turn isindicative of a corresponding force applied to object contacting film494. For example, when object 44 pulls object contacting film 494 in thenegative z-axis direction, load frame lip 413 will apply a force in thenegative z-axis direction against protective support 538 and againstsensor 540. In certain embodiments, sensor 540 is connected to acontroller and provides electrical signals to the controller indicativeof a force applied to object contacting film 494 and solidificationsubstrate assembly 414. A variety of sensors constructions may be used,but a preferred sensor 540 is a thin film piezoelectric pressure sensor.As is known to those skilled in the art, the application of pressure toa piezoelectric material generates an electrical signal incorrespondence to the pressure applied to the piezoelectric material.Thus, the application of a force to object contacting film 494 resultsin the transmission of the force to solidification substrate assembly414, thereby causing load frame lip 413 to apply a force to sensor 540,yielding an electrical signal indicative of the force applied toassembly 414 and to object contacting film 494.

In accordance with one method, sensor 540 is electrically connected to apeeling member controller 554 (FIG. 32A) that operates motor 465 to peelfilm 494 from object 44 based on the sensed force from sensor 540. Asshown in FIG. 34, in accordance with the method, a user specifies apredetermined net negative z-axis force used to dictate when peelingmember 492 will be used to peel film 494 from object 44 (step 1014). Thepredetermined negative z-axis force is then entered as a setpoint intothe peeling member controller 554. Following the transmission ofsolidification energy from pattern generator 108 (step 1016), buildplatform 104 will move downward into container 100 (step 1018). If film494 adheres to object 44, sensor 540 will detect a pulling force in thedownward (negative) z-axis direction, which is indicative of the forceof object 44 exerted against object contacting film 494 (step 1020). Ifthe detected force exceeds the setpoint (step 1022), motor 465 will beactivated (step 1024) to initiate peeling. The sensed force thusprovides an indication of film adherence to object 44, and the peelingmember 492 can be selectively activated only when such adherence isbelieved to have occurred. In other examples, a build platformcontroller (not shown) is provided, and the speed at which the buildplatform moves away from object contacting film 494 is adjusted based onthe rate of change of the sensed force signal. In one preferredembodiment, such build platform speed adjustments are made prior toactivating motor 465 in step 1024. An intelligent peeling system is thusprovided.

As indicated above, load frame latch 412 will generally apply a downwardforce (negative z-axis) against load frame lip 413, which in turnapplies the same force against protective support 538 and sensor 540.Thus, sensor 540 is preferably ranged so that it will detect negativez-axis forces in excess of the baseline force applied by load framelatch 412. In addition, load frame latch 412 is preferably configured toapply an adjustable baseline force against load frame lip 413. In oneexample, adjustable nut 417 (FIG. 32B) is provided to allow the force tobe adjusted. In another example, the baseline force is set to be at ornear the mid-point of the range of force sensor 540 to provide forrobust bi-directional z-axis force sensing and signaling. In oneillustrative application of the method of FIG. 34, sensor 540 isconnected to a voltmeter, and adjustable nut 417 is rotated to provide abaseline negative z-axis force that yields a 1.8V baseline force signal.If object contacting film 494 adheres to object 44, during step 1018(FIG. 34), the negative z-axis force will exceed 1.8V. In step 1014, theuser enters a setpoint into peeling member controller 554 whichcorresponds to a net negative z-axis force signal of 3.0V. As buildplatform 104 moves in the negative z-axis direction, the rate of changeof the measured voltage will be compared to another user enteredset-point. If the rate of change set-point is exceeded, the buildplatform controller will reduce the rate of speed at which the buildplatform 104 moves in the negative z-axis direction. In certain cases,the adjustment of build platform speed may be sufficient to prevent thenegative z-axis force from exceeding the setpoint entered into thepeeling member controller in step 1014. In other cases, the adjustmentto the build platform speed will be insufficient, and the negativez-axis force will exceed the peeling member controller setpoint (e.g.,3.0V), thus causing the peeling member controller 554 to activate motor465 and initiate film peeling. In addition, multiple adjustments may bemade to the build platform speed, which in some cases may eliminate theneed for peeling member 492.

Instead of monitoring the rate of change of the sensed force, analternative method may be used wherein the user specifies a lower forcesetpoint (e.g., 2.5 V, as compared to the 3.0V setpoint used to activatepeeling member 492), and when the lower setpoint is exceeded, the buildplatform 104 downward speed is adjusted until a minimum speed isreached. If the higher setpoint is subsequently exceeded, peeling member492 will be activated.

In accordance with another method, sensor 540 is connected to a patterngenerator controller 554 (FIG. 32A) that activates pattern generator 108to supply solidification energy to solidifiable material 41 based on thesensed force provided by sensor 540. As mentioned previously, in certainembodiments, build platform 104 is lowered to a first distance d₁ fromfilm assembly 505 and then raised to define a smaller distance d₂between build platform 104 and film assembly 505. As a result, duringthe upward movement of build platform 104, a positive (upward) z-axisforce is exerted against solidification substrate assembly 414 whichoffsets the net downward (negative) z-axis force generated by theengagement of load frame latch 412 against load frame lip 413. Duringthis process, solidifiable material 41 is squeezed out from the spacebetween object 44 and film assembly 505 (including through perforationsin build platform 104 if they are provided), causing the force sensed bysensor 540 to initially be less than the baseline force (e.g., the forcecorresponding to 1.8V). As the solidifiable material continues to bedisplaced, the net negative z-axis force will rise (i.e., the baselineforce of load frame lip 413 against protective support 538 and sensor540 will exceed the upward force of solidifiable material by aprogressively greater amount). Once the solidifiable material 41thickness is stable, the sensed force will again correspond to thebaseline force (e.g., 1.8V). At this point, pattern generator 108supplies solidification energy to solidifiable material 41.

As shown in FIG. 35, in accordance with the method, the user supplies aforce setpoint to the pattern generator controller (step 1026). Incertain examples, the setpoint will correspond to a net negative z-axisforce that is less than the baseline force or within a certain toleranceof the baseline force (e.g., 1.8+/−0.1 V). In step 1028, buildingplatform 104 is lowered to a depth defining a first distance d₁ betweenbuild platform 104 and film assembly 505. In step 1029, peeling member492 peels film 494 from object 44. Alternatively, the method of FIG. 34may be used to activate the peeling member 492 in step 1029 based uponthe detection of a downward (negative z-axis) force against film 494that is indicative of the object contacting film 494 adhering to object44.

In step 1030, solidifiable material 41 is allowed to flow into the spacebetween the upper surface of object 44 and film assembly 505. Buildplatform 104 is then elevated to define a distance d₂ that is smallerthan d₁ between the build platform 104 and film assembly 505. Asmentioned previously, the distance d₂ is preferably the maximum curingand/or voxel depth supplied by pattern generator 108. The elevation ofbuild platform 104 will cause solidifiable material 41 to exert anupwardly directed force against film assembly 505 which will offset thedownward force applied by load frame lip 413. The upwardly directedforce will reach a maximum and then progressively diminish assolidifiable material 41 is squeezed out of the space between object 44and film assembly 505 and between build platform 104 and film assembly505. In step 1034, the upward force against film assembly 505 is sensed,and when the upward force reaches the set point (or is within aspecified tolerance thereof) (step 1036), pattern generator 108 suppliessolidification energy to solidifiable material 41 (1038). If the buildprocess is not yet complete (step 1040), the method returns to step 1028and is repeated. The method of FIG. 35 may also be modified so thatbetween steps 1030 and 1032, build platform 104 is raised by thedistance d₁ to accelerate the displacement of solidifiable material 41from between object 44 and film assembly 505. In step 1032, buildplatform 104 would then be lowered to reach the distance d₂ from filmassembly 505. In addition, a build platform speed controller may beprovided and may adjust the speed of movement of the build platform 104in the upward (positive z-axis) direction based on the rate of change ofthe upward force applied by solidifiable material 41 against filmassembly 505. Alternatively, a lower setpoint (e.g., 1.3 V as comparedto the 1.8V+/−0.1 V used to activate pattern generator 108) may be usedto adjust the speed of build platform 104 by lowering the rate at whichit is elevated toward film assembly 505. Then, once the build platform104 reaches the distance d₂ from film assembly 505, the patterngenerator controller will cause pattern generator 108 to supplysolidification energy to solidifiable material 41 once the net negativez-axis force reaches the user entered setpoint entered in step 1026.

In the method of FIG. 35, the sensed force provides an indication of theupward force exerted by solidifiable material 41 against objectcontacting film 494 and indicates when the solidifiable material 41 hasreached a stable thickness. The pattern generator controller 554 allowsthe supply of solidification energy to be timed with the attainment ofthe stable thickness, thereby increasing the accuracy of built objects.An intelligent solidification energy system is thus provided.

In an especially preferred embodiment, sensor 540 is bi-directional andconfigured to sense forces in the positive and negative z-axisdirections. In accordance with the embodiment, the sensor signal isprovided to at least one controller configured to provide peeling membercontrol and exposure control, as described above. Individual controllersmay be provided, or a combined controller (such as controller 554 ofFIG. 32A) for both peeling member control and pattern generator controlmay be provided.

Referring to FIGS. 36-43, an alternative embodiment of a solidificationsubstrate assembly 614 is depicted. In preferred embodiments,solidification substrate assembly 614 is used in a system for making athree-dimensional object such as system 90 (FIG. 7), discussedpreviously. The components of solidification substrate assembly 614which are substantially similar to those of solidification substrateassembly 214 or 514 are identified with reference numerals that beginwith a “6” and which end in the same two digits as their respectivecounterparts in assemblies 214 or 514.

Unlike the previous embodiments, solidification substrate assembly 614includes a moveable exposed area of solidifiable material 41 which is asub-area of the total surface area of a solidifiable material which maybe exposed to solidification energy. Thus, in certain embodiments, thearea of solidifiable material that is subjected to solidification energyis less than the total area upon which solidification energy isprojected. In certain examples, a rigid or semi-rigid solidificationsubstrate is provided which is movable in the length and/or widthdirections of the assembly 614.

Solidification substrate assembly 614 includes a frame 616 and amulti-layer assembly 621 (not separately shown). Multi-layer assembly621 comprises a rigid or semi-rigid solidification substrate assembly601 (FIG. 41) which is connected to a film assembly 605 (not separatelyshown). Rigid or semi-rigid solidification substrate assembly 601includes rigid or semi-rigid solidification substrate 679, which ispreferably translucent and/or transparent, and a pair of brackets 710 aand 710 b, which are spaced apart from one another and respectivelyattached to opposite ends of rigid or semi-rigid solidificationsubstrate 679.

Film assembly 605 includes a film frame assembly 613 (not separatelyshown) and an object contacting film 694 (FIG. 43). Film frame assembly613 includes an inner frame 618 and an outer frame 612 (FIG. 43)configured in the same manner as frames 518 and 512 in FIGS. 29B, and 30A-B. Unlike film assembly 505, film assembly 605 does not include aloose film. While a loose film may be provided, in certain embodimentsone is not required because the movement of rigid or semi-rigidsolidification substrate 679 prevents the formation of a vacuum thatwould otherwise cause film 694 to adhere to substrate 679. Objectcontacting film 694 is preferably of the type described previously withrespect to object contacting film 494. Object contacting film 694 isconnected to inner frame 618 and outer frame 612 in the same manner asobject contacting film 494 is connected to inner frame 518 and outerframe 512 in the embodiment of FIGS. 26-31. Frames 612 and 618 aresubstantially identical to and connected to one another in the samemanner as frames 512 and 518. Object contacting film 694 has anunstretched condition prior to attachment to film frame assembly 613 anda stretched condition when object contacting film is connected to filmframe assembly 613. Thus, in certain embodiments, object contacting film694 and film frame assembly 613 comprises a pre-stretched film assembly.

During an object building process, solidifiable material 41 willsolidify in contact with object contacting film 694. As build platform104 descends into container 100 and solidifiable material 41, object 44will tend to pull and stretch object contacting film 694. Because of therepeated stress exerted on object contacting film 694, it iscontemplated that film assembly 610 will be a replaceable component.

Rigid or semi-rigid solidification substrate 679 has a surface area thatis less than the total area of object contacting film 694 and less thanthe total area of solidifiable material that may receive solidificationenergy from a source of solidification energy, such as an imager. Unlikeprevious embodiments, the total exposable area of solidifiable material41 is not simultaneously exposed to solidification energy during a givenexposure. Instead, a sub-area comprising less than the total exposablearea is first supplied with solidification energy. The sub-area issubstantially equal to the surface area of rigid or semi-rigidsolidification substrate 679. The sub-area is moved between differentpositions relative to the total exposable area of solidificationmaterial 41 and relative to frame 616, and solidification energy issupplied to the sub-area while the sub-area is at the differentpositions. Thus, solidification energy is exclusively supplied tomultiple selected locations in the L×W plane defined by the length andwidth of solidification substrate assembly 614.

Solidification substrate assembly 614 includes timing belts 642 a and642 b which are used to move rigid or semi-rigid solidificationsubstrate assembly 601 from a first position to a second position withrespect to frame 616 and the total exposable area of solidifiablematerial 41. Timing belts 642 a and 642 b are connected to respectivepulleys 622 a and 622 b at one end and to a motor drive shaft 664 atanother end. Motor 665 is provided to move timing belts 642 a and 642 b.

Referring to FIGS. 37 and 41, rigid or semi-rigid solidificationsubstrate assembly 601 includes a pair of brackets 710 a and 710 b. Eachbracket 710 a and 710 b includes a respective vertical panel, 712 a and712 b, and a respective horizontal panel 714 a and 714 b (FIG. 41).Vertical panels 712 a and 712 b are each connected to a respective endof rigid or semi-rigid transparent solidification substrate 679 and to arespective horizontal panel 714 a and 714 b. Vertical panels 712 a and712 b may be separately formed and then connected to their respectivehorizontal panels 714 a and 714 b or may be formed integrally therewith.

Rigid or semi-rigid solidification substrate 679 is preferablyconstructed of glass or hard plastic. In one example, substrate 679 isconstructed of a rigid or semi-rigid transparent acrylic polymer.

As best seen in FIGS. 36 and 37, brackets 710 a and 710 b are connectedto their respective timing belts 642 a and 642 b on an upper surface andto respective linear bearings 652 a and 652 b on a lower surface. Linearbearings 652 a and 652 b slidingly engage corresponding linear rails 656a and 656 b to facilitate the sliding movement of rigid or semi-rigidsolidification substrate assembly 601 along the length L ofsolidification substrate assembly 614. Thus, as motor 665 operates, eachbracket 710 a and 710 b slides along its respective linear rail 656 aand 656 b causing rigid or semi-rigid solidification substrate 679 tomove along the length L of solidification substrate assembly 614.

As best seen in FIGS. 36, 38, and 39, the only portion of solidifiablematerial 41 which may be exposed to solidification energy is the portionlying underneath rigid or semi-rigid solidification substrate 679. Theremaining portions of the total exposable area of solidifiable material41 are shielded from solidification energy by moveable covers 706 a and706 b and fixed covers 724 a and 724 b. Referring to FIGS. 36 and 37,moveable covers 706 a and 706 b are each connected to horizontal panels714 a and 714 b of brackets 710 a and 710 b. Moveable covers 706 a and706 b are spaced apart to define an open area in which rigid orsemi-rigid solidification substrate 679 is disposed. Moveable covers 706a and 706 b are each connected to respective vertical panels 708 a and708 b which are spaced apart from one another in the length direction Lof solidification substrate assembly 614. In one embodiment, verticalpanels 708 a and 708 b are each connected to an opposing side of rigidor semi-rigid solidification substrate 679 such as by an adhesive.Collectively, vertical panels 712 a/712 b of rigid or semi-rigidsolidification substrate assembly 601, vertical panels 708 a and 708 b,and moveable covers 706 a and 706 b define a recess 717 in which rigidor semi-rigid solidification substrate 679 is disposed. In one example,the open area of the recess (i.e., the area parallel to the L×W plane ofsolidification substrate assembly 614) corresponds to the sub-area ofsolidifiable material 41 which may receive solidification energy duringan exposure.

As best seen in FIG. 43, film frame assembly 613 (not separately shown)is attached to the underside of frame 616 via fasteners connected toframe 616 and lip 626 of inner frame 618. As best seen in FIG. 37, fixedcovers 724 a and 724 b are spaced apart from one another along thelength of solidification substrate assembly 614. Fixed covers 724 a and724 b may also act as stops which prevent further movement of rigid orsemi-rigid solidification substrate assembly 601 due to the engagementof vertical panels 708 a and 708 b with corresponding fixed covers 724 aand 724 b. However, in practice, the system may be configured such thatvertical panels 708 a and 708 b never reach and do not come intoabutting engagement with their respective fixed covers 724 a and 724 b.

As shown in FIGS. 36 and 43, moveable covers 706 a and 706 b arepreferably disposed at a height (i.e., in a direction normal to thelength and width of solidification substrate assembly 614) which isabove the height of their corresponding adjacent fixed covers 724 a and724 b. As shown in FIGS. 36 and 43, this allows for a variable degree ofoverlap between each moveable cover 706 a and 706 b and itscorresponding fixed cover 724 a and 724 b, which in turn helps ensurethat solidification energy is supplied exclusively to the sub-area ofsolidification material 41 defined by rigid or semi-rigid solidificationsubstrate 679. This configuration facilitates the movement of thesub-area between different positions relative to the total exposablearea of the solidifiable material as well as relative to the frame 616and film assembly 605.

Referring to FIGS. 37 and 42, solidification substrate assembly 614includes at least one film peeling member, which in the depictedembodiment is two film peeling members 692 a and 692 b. Film peelingmembers 692 a and 692 b are generally elongated rigid members which arespaced apart from one another along the length L of solidificationsubstrate assembly 614 and on opposite sides of rigid or semi-rigidsolidification substrate 679.

In one preferred embodiment, film peeling members 692 a and 692 b areoperatively connected to rigid or semi-rigid solidification substrate679 to move in a coordinated fashion with rigid or semi-rigidsolidification substrate 679. One exemplary apparatus for facilitatingthis movement is depicted in FIGS. 37 and 42. Referring to FIG. 42, eachfilm peeling member is connected to an opposite side of two brackets 702a and 702 b. Brackets 702 a and 702 b are spaced apart along the width Wof solidification substrate assembly 614 while peeling members 692 a and692 b are spaced apart along the length L of solidification substrateassembly 614.

Bracket 702 a has an upper surface with connectors 703 a and 705 a whichare configured for connection to complementary connectors 718 a and 720a formed in horizontal panel 714 a of rigid or semi-rigid solidificationsubstrate assembly bracket 710 a (FIG. 37, 41). Correspondingly, bracket702 b has an upper surface with connectors 703 b and 705 b which areconfigured for connection to complementary connectors 718 b and 720 bformed in horizontal panel 714 b of rigid or semi-rigid solidificationsubstrate assembly bracket 710 b. Connectors 703 a/b and 705 a/b may bemale or female, threaded or unthreaded. Similarly, complementaryconnectors 718 a/720 a and 718 b/720 b may be male or female, threadedor unthreaded. In FIG. 42, connectors 703 a/b and 705 a/b are maleconnectors suitable for insertion into corresponding female connectors(e.g., threaded or unthreaded holes) 718 a/b and 720 a/b.

The connections between brackets 702 a/b and 710 a/b allow film peelingmembers 692 a and 692 b to move in coordination with rigid or semi-rigidsolidification substrate assembly 601 as it moves along the length L ofsolidification substrate assembly 614. Peeling members 692 a and 692 bare preferably maintained at a fixed distance relative to rigid orsemi-rigid solidification substrate 679. As best seen in FIG. 43, rigidor semi-rigid solidification substrate assembly 601 is preferablyconfigured to maintain the upper surface 726 of rigid or semi-rigidsolidification substrate 679 beneath inner frame 618 and outer frame 612of film frame assembly 605 (not separately shown). The lower surface 728of rigid or semi-rigid solidification substrate 679 is in abuttingengagement with object contacting film 694, which facilitates thecreation of a substantially planar surface of solidifiable material 41to which solidification energy is supplied. As shown in FIG. 43, theperimeter of object contacting film 694 is connected to film frameassembly 605 at a height that is above the height of lower-most surface728 of rigid or semi-rigid solidification substrate. Thus, the portionof object contacting film 694 which engages lower-most surface 728 ofrigid or semi-rigid solidifications substrate 679 remains below the filmframe assembly 605 defined by inner film frame 618 and outer film frame612.

Referring to FIG. 44, a method of forming a three-dimensional objectusing a system such as system 90 (FIG. 7) in which solidificationsubstrate assembly 614 is installed will now be described. In accordancewith the method, rigid or semi-rigid solidification substrate 679 is ata first position shown in FIG. 39 with respect to frame 616 and withrespect to the total exposable area of solidifiable material (acorresponding view from the bottom of apparatus 614 is provided in FIG.40). The total exposable area of solidifiable material 41 represents thetotal area of solidified material 41 to which solidification energy canbe provided as rigid or semi-rigid solidification substrate 679 movesthrough its full range of travel in the length direction (L) ofsolidification substrate assembly 679. The total exposable area will bethe exposed width (S_(W)) of substrate 679 multiplied by the distancebetween the end of travel positions L₁ in FIG. 38 and L₂ in FIG. 39. InFIGS. 38 and 39, S_(L) represents the exposed length of rigid orsemi-rigid solidification substrate 679.

Referring again to FIG. 44, in step 1050 with rigid or semi-rigidsolidification substrate 679 at the first position shown in FIG. 38,build platform 104 reaches a depth d₁ within solidifiable material 41relative to substrate 679. Solidification energy is then supplied fromabove solidification substrate assembly 614 to a sub-area of the totalexposable area. Solidification energy incident upon moveable covers 706a, 706 b, or fixed covers 724 a, 724 b will not be transmitted tosolidifiable material 41 and will not solidify the material beneath thecovers. Solidification energy that is transmitted into the recess 717(defined by covers 706 a/b, 708 a/b and panels 714 a/b, and 712 a/b) andwhich reaches substrate 679 will be transmitted to solidifiable material44 and will solidify the material beneath substrate 679 in accordancewith the supplied energy pattern. As mentioned previously, the energypattern may be defined by voxel maps, vectors, bitmaps, etc. The exposedsurface area of substrate 679 (S_(L)×S_(W)) defines the sub-area ofsolidifiable material 41 to which energy is transmitted, although thespecific locations (e.g., pixels or voxels) within the sub-area whichreceive solidification energy during any given exposure will depend onthe object being built and the supplied energy pattern that correspondsto it. Thus, energy is supplied exclusively to the sub-area ofsolidifiable material 41 defined by the exposed area (S_(L)×S_(W)) ofrigid or semi-rigid solidification substrate 679, although not everysingle portion within the sub-area will necessarily be solidified duringa given exposure.

The solidified material 41 will solidify in contact with objectcontacting film 694 in accordance with the supplied energy pattern. Instep 1052, the sub-area of solidifiable material 41 which is defined bythe area S_(L)×S_(W) is then moved in a first direction (e.g., positive)along the length (L) axis of solidification substrate assembly 614 fromthe first position shown in FIG. 38 to the second position shown in FIG.39. During this movement, peeling members 692 a and 692 be will move incoordination with substrate 679 along the length L of solidificationsubstrate assembly 614, thereby peeling object contacting film 694 fromthe solidified object.

In one exemplary embodiment, solidification substrate assembly 614 isused in a system 90 with a continuously moving build platform 104. Insuch an embodiment, build platform 104 continues moving intosolidifiable material 41 as solidification energy is supplied to thesolidifiable material 41. Thus, in step 1054, solidification energy issupplied to solidifiable material 41 with substrate 679 in the secondposition shown in FIG. 39 as build platform 104 continues to movedownward into solidifiable material 41. Although assembly 614 may beused with a continuously moving build platform, such a platform is notrequired. Solidification substrate assembly 614 may be used in systemsin which a build platform 104 moves in discrete increments. In oneexample, the energy pattern supplied by an imager is identical whenrigid or semi-rigid solidification substrate 679 is in both the firstposition of FIG. 38 and the second position of FIG. 39. However, due tothe movement of the substrate 679, a different sub-area of solidifiablematerial 41 receives the projected energy when substrate 679 is at thetwo positions. Although FIGS. 38 and 39 describe two discrete substrate679 positions for which solidification energy is supplied, additionalpositions and corresponding exposures may be provided. In some examples,solidification energy is also supplied while substrate 679 is movingbetween positions.

In step 1056, rigid or semi-rigid solidification substrate 679 moves ina second direction (e.g., negative) along the length (L) ofsolidification substrate assembly 614. As a result, peeling members 692a and 692 b peel object contacting film 694 from the solidified objectdisposed beneath substrate 679. In one exemplary embodiment, buildplatform 104 continues to move during step 1056. In step 1058, adetermination is made as to whether the object build process iscomplete. If not, control returns to step 1050.

In certain examples, the distance that substrate 679 travels from thefirst position of FIG. 38 to the second position of FIG. 39 is greaterthan the exposed dimension of substrate 679 that is parallel to thedirection of travel. This technique may be used to ensure that peelingmembers 692 a and 692 b traverse the full length (L-direction) of film694 which is in contact with solidified material. As shown in FIGS. 38and 39, S_(L) is the exposed length of the substrate 679, and S_(w) isthe exposed width of the substrate 679. The substrate 679 travels in thedirection of the substrate width (S_(W)) and assembly 614 length (L). Inthe embodiment of FIGS. 38 and 39, substrate 679 travels a distancebetween exposures to solidification energy (i.e., during step 1052)which is greater than S_(w) to ensure complete peeling of solidifiedmaterial from film 694. In certain examples, solidification energy isalso supplied between the first position of FIG. 48 and the secondposition of FIG. 39 to ensure that there are no gaps of uncured materialthat might otherwise exist if the substrate 679 traverses a distancegreater than S_(W) between exposures to solidification energy.

Referring again to FIG. 43, a cross-sectional view of rigid orsemi-rigid solidification substrate 679 is provided. As shown in thefigure, substrate 679 has a first upper surface 726 and a second lowersurface 728. Substrate 679 also preferably has a beveled edge 730. Firstsurface 726 is positioned proximate inner and outer film frames 618 and612 and is disposed between second surface 728 and inner and outer filmframes 618 and 612. As illustrated in the figure, in certain examples,first upper surface 726 has a surface area greater than the surface areaof second lower surface 728. The use of a beveled edge 730 and an uppersurface 726 with a surface area greater than lower surface 728 improvesthe ability of substrate 679 to slide along film 694 as substrate 679moves relative to frame 616 and film 649. As shown in FIG. 43, whenviewed in cross-section, lower surface 728 has a substantially flatregion 735 disposed inward of beveled edge 730.

In certain embodiments that include a beveled edge such as edge 730,steps are taken to reduce the likelihood of image distortion that curvedsubstrate geometries may cause. As indicated in FIG. 43, the exposedsurface area 737 (i.e., S_(L)×S_(W)) of upper surface 726 issubstantially equal to the surface area of substantially flat region 735of second lower surface 728 because of the positioning of verticalpanels 712 a and 712 b. As shown in FIG. 43, vertical panels 712 a and712 b are positioned inward of the beveled edge 730 leaving end portions731 and 733 outside of the exposed area. Vertical panels 712 a and 712 bare preferably positioned to ensure that only portions of solidifiablematerial under substantially flat region 735 of surface 728 receivesolidification energy in order to avoid image distortion that mayotherwise occur. Thus, in the example of FIG. 43, solidification energyis received by substantially flat surface 737 and transmitted from asubstantially flat surface 735. In certain preferred examples, nosolidification energy is transmitted from beveled edge 730 tosolidifiable material 41.

In the solidification substrate assembly 614 depicted in FIGS. 36-43,only one rigid or semi-rigid solidification substrate assembly 601 andone set of peeling members 692 a and 692 b are used. However, two ormore adjacent sets of a substrate assembly 601 and peeling members 692a/692 b may be used, with each set being configured with its ownassociated moveable covers 706 a/706 b, vertical panels 708 a/708 b, andpeeling member brackets 702 a/702 b.

The present invention has been described with reference to certainexemplary embodiments thereof. However, it will be readily apparent tothose skilled in the art that it is possible to embody the invention inspecific forms other than those of the exemplary embodiments describedabove. This may be done without departing from the spirit of theinvention. The exemplary embodiments are merely illustrative and shouldnot be considered restrictive in any way. The scope of the invention isdefined by the appended claims and their equivalents, rather than by thepreceding description.

What is claimed is:
 1. A solidification substrate assembly, comprising:a rigid or semi-rigid solidification substrate that is transparentand/or translucent; a film layer that is transparent and/or translucent,the film layer having a length; a film peeling member, wherein during afilm peeling operation, the film peeling member traverses the length ofthe film layer, the film layer is disposed between the film peelingmember and the rigid or semi-rigid solidification substrate, and thefilm peeling member is spaced apart from the rigid or semi-rigidsubstrate by a substantially fixed distance.
 2. The solidificationsubstrate assembly of claim 1, wherein during the film peelingoperation, the film peeling member traverses the length of the filmlayer along a substantially linear path.
 3. The solidification substrateassembly of claim 1, wherein the film layer is attached to a film frameassembly, the rigid or semi-rigid solidification substrate is attachedto a rigid or semi-rigid solidification substrate frame, and the filmframe assembly is attached to the rigid or semi-rigid solidificationsubstrate frame.
 4. The solidification substrate assembly of claim 1,wherein the film layer is a first film layer, the solidificationsubstrate assembly comprises a second film layer that is transparentand/or translucent between the first film layer and the rigid orsemi-rigid solidification substrate, and the first film layer is in astretched condition.
 5. The solidification substrate assembly of claim4, wherein the second film layer has a first surface facing the firstfilm layer and a second surface facing the rigid or semi-rigidsolidification substrate, and the second surface includes a relievedarea.
 6. The solidification substrate assembly of claim 4, wherein thesolidification substrate assembly comprises a film assembly, and thefilm assembly comprises a first frame, a second frame, the first filmlayer, and the second translucent layer.
 7. The solidification substrateassembly of claim 6, wherein the film frame assembly has an uppersurface and a lower surface, and the rigid or semi-rigid layer isdisposed between the upper surface and the lower surface.
 8. Thesolidification substrate assembly of claim 1, further comprising a guiderail and a bearing, wherein the bearing is connected to the peelingmember and slidably engages the guide rail along the direction of thefilm length, the guide rail is spaced apart from the film in a directionsubstantially perpendicular to the film length, and the film is disposedbetween the peeling member and the guide rail.
 9. A method of making athree-dimensional object from a solidifiable material, comprising:providing a rigid or semi-rigid solidification substrate that istransparent and/or translucent and a film layer that is transparentand/or translucent; providing a peeling member; solidifying thesolidifiable material in contact with the film layer to create asolidified object section while maintaining a fixed distance between therigid or semi-rigid solidification substrate and the peeling member,wherein the film layer is disposed between the rigid or semi-rigidsolidification substrate and the peeling member; moving the peelingmember along the length of the film layer while maintaining thesubstantially fixed distance between the peeling member and the rigid orsemi-rigid solidification substrate to peel the film layer from thesolidified object section.
 10. The method of claim 9, furthercomprising: providing an object build platform and a source of thesolidifiable material; maintaining a specified solidification distancebetween a previously solidified object section and the rigid orsemi-rigid solidification substrate during the solidifying step; movingthe build platform away from the rigid or semi-rigid solidificationsubstrate to define a distance between the previously solidified objectsection and the rigid or semi-rigid solidification substrate which isgreater than the specified solidification distance; supplying thesolidifiable material between the previously solidified object sectionand the film layer; and moving the build platform such that the distancebetween the previously solidified object section and the film layer isthe specified solidification distance.
 11. The method of claim 10,further comprising sensing a force indicative of a force applied to thefilm layer and solidifying the solidifiable material in contact with thefilm layer based on the sensed force.
 12. The method of claim 9, whereinthe step of moving the peeling member along the length of the film layercomprises moving the peeling member along a substantially linear path.13. The method of claim 10, wherein the step of moving the buildplatform away from the rigid or semi-rigid solidification substrateoccurs before the step of moving the peeling member along the length ofthe film layer.
 14. The method of claim 9, further comprising the stepof providing a film assembly, wherein the film assembly comprises thefilm layer, an inner frame, and an outer frame.
 15. The method of claim9, wherein during the step of moving the peeling member along the lengthof the film layer, the peeling member applies no appreciable force tothe rigid or semi-rigid solidification substrate.
 16. The method ofclaim 9, wherein the rigid or semi-rigid solidification substrate isglass.
 17. The method of 9, further comprising sensing a forceindicative of a force applied to the film layer and moving the peelingmember along the length of the film layer based on the sensed force. 18.A solidification substrate assembly, comprising: a rigid or semi-rigidsolidification substrate; a translucent and/or transparent film layer;and a sensor configured to measure a force indicative of a force appliedto the film layer.
 19. The solidification substrate assembly of claim18, wherein the solidification substrate assembly comprises a loadframe, a rigid or semi-rigid solidification substrate frame, and a filmassembly, and the force sensor engages the load frame.
 20. Thesolidification substrate assembly of claim 19, wherein the rigid orsemi-rigid solidification substrate is attached to the rigid orsemi-rigid solidification substrate frame, and the rigid or semi-rigidsolidification substrate frame is attached to the film assembly.
 21. Thesolidification substrate assembly of claim 19, wherein the film assemblycomprises an inner frame, and outer frame, and the film layer.
 22. Thesolidification substrate assembly of claim 19, wherein the film layer isa first film layer, and the film assembly comprises the first filmlayer, and a second translucent and/or transparent film layer.
 23. Anapparatus for producing a three-dimensional object from a solidifiablematerial, comprising: the solidification substrate assembly of claim 18,and a peeling member controller, wherein the peeling member controllerreceives sensed force signals from the force sensor, and the controllermoves the peeling member along the length of the film layer based on thesensed force signals.
 24. An apparatus for producing a three-dimensionalobject from a solidifiable material, comprising: the solidificationsubstrate assembly of claim 18; a pattern generator for supplyingelectromagnetic radiation to the solidifiable material; a patterngenerator controller, wherein the pattern generator controller receivessensed force signals from the force sensor and supplies solidificationenergy to the solidifiable material based on the sensed force signals.25. An apparatus for producing a three-dimensional object from asolidifiable material, comprising: a work table having an opening; andthe solidification substrate assembly of claim 18, removably disposed inthe work table opening, wherein the force sensor abuttingly engages thework table.
 26. The solidification substrate assembly of claim 18,wherein the sensor measures forces in at least two directions, and theat least two directions are substantially perpendicular to a surface ofthe translucent film layer.
 27. A method of producing athree-dimensional object from a solidifiable material, comprising:providing a solidified object section in contact with a solidificationsubstrate; determining a force applied to the solidification substrate;traversing a peeling member along the length of the solidificationsubstrate based on the force applied to the solidification substrate.28. The method of claim 27, further comprising moving the solidifiedobject section away from the solidification substrate.
 29. The method ofclaim 28, further comprising supplying solidifiable material between thesolidified object section and the solidification substrate and movingthe solidified object section toward the solidification substrate. 30.The method of claim 27, wherein the solidification substrate comprises atranslucent and/or transparent film.
 31. The method of claim 27, whereinthe step of determining a force applied to the substrate comprisesdetermining a first force applied to the substrate, and the methodfurther comprises supplying the solidifiable material between the objectsection and the solidification substrate, determining a second forceapplied to the substrate, and solidifying the solidifiable materialbased on the second force.
 32. A method of producing a three-dimensionalobject from a solidifiable material, comprising: providing solidifiablematerial between a previously solidified object section and asolidification substrate; determining a force applied to thesolidification substrate; supplying solidification energy to thesolidifiable material based on the force.
 33. The method of claim 32,wherein the step of providing a solidifiable material between apreviously solidified object section and a solidification substratecomprises moving the previously solidified object section away from thesolidification substrate.
 34. A solidification substrate comprising arigid or semi-rigid substrate that is transparent and/or translucent,the rigid or semi-rigid substrate having an upper surface and a lowersurface, wherein the upper surface has a surface area, the lower surfacehas a surface area, and the upper surface area is greater than the lowersurface area.
 35. The solidification substrate of claim 34, wherein therigid or substantially rigid substrate includes a beveled edge.
 36. Asolidification substrate assembly comprising: a frame; and thesolidification substrate of claim 34, wherein the frame has a length anda width, and the solidification substrate is movable along at least oneselected from the length and the width.
 37. The solidification substrateassembly of claim 36, further comprising a movable cover connected tothe rigid or semi-rigid solidification substrate.
 38. The solidificationsubstrate assembly of claim 37, wherein the moveable cover includes anopening, and the rigid or semi-rigid solidification substrate isdisposed in the opening.
 39. The solidification substrate assembly ofclaim 37, further comprising a fixed cover connected to the frame, and afilm assembly disposed beneath the frame, wherein the film assemblycomprises a film having a surface area, and the movable cover and thefixed cover define an exposed film area that is substantiallyco-extensive with the rigid or semi-rigid transparent solidificationsubstrate.
 40. The solidification substrate assembly of claim 36,further comprising at least one film peeling member operativelyconnected to the solidification substrate such that when thesolidification substrate moves along at least one selected from theframe length and frame width, the at least one film peeling member movesalong the at least one selected from the frame length and frame width.41. A method of producing a solidifiable object from a solidifiablematerial, comprising: providing a source of solidifiable material havinga total exposable area to which solidification energy may be supplied;supplying solidification energy exclusively to a sub-area of the totalexposable area while the sub-area is at a first location with respect tothe total exposable area; moving the sub-area in a first direction to asecond location with respect to the total exposable area; and supplyingsolidification energy exclusively to the sub-area of the total exposablearea while the sub-area is at the second location with respect to thetotal exposable area.
 42. The method of claim 41, wherein the step ofsupplying solidification energy exclusively to a sub-area of the totalexposure area while the sub-area is at the first location causes thesolidifiable material at the first location to solidify in contact witha film, and the step of moving the sub-area to the second location withrespect to the total exposable area further comprises peeling solidifiedmaterial from the film at the first location.
 43. The method of claim42, wherein the step of peeling solidified material from the film at thefirst location comprises providing at least one film peeling memberdisposed between the film and the solidified material and moving the atleast one film peeling member in the first direction.
 44. The method ofclaim 41, further comprising providing a build platform, wherein thebuild platform is moveable in the source of solidifiable material, andduring the step of supplying solidification energy exclusively to asub-area of the total exposable area while the sub-area is at the firstlocation, the build platform continuously moves in the sourcesolidifiable material.